关键词: 爬壁机器人, 负压吸附, 流场模型, 流量分析

Abstract: Addressing the challenge in optimizing the adhesion performance of wall-climbing robots based on negative pressure adhesion method due to the complexity of internal flow fields and difficulties in precise modeling, a flow field modeling method was proposed based on flow rate conservation. According to the structural characteristics of negative pressure adhesion systems of a wall-climbing robot, mathematical models of airflow field in negative pressure adhesion systems were built by combining the laws of thermodynamics and N-S equations using air flow rate as the related factor. Then, key influencing factors of adhesion performance were identified based on the model: sealing ring width, leakage gap height, and centrifugal pump power. The effective adhesion forces were changing with airflow of adhesion systems. Results of the simulation and prototype experiments show that the models constructed herein may accurately reflect the changing rules of adhesion performance, and may provide evidences for the optimization of adhesion performance of wall climbing robots with negative pressure adhesion method. Finally, according to the movement characteristics of the wall-climbing robots， adsorption performance optimization strategy was increasing the rated adsorption force to self gravity ratio while decreasing the effective adsorption force to self gravity ratio.

Key words: wall-climbing robot, negative-pressure adhesion, flow field model, flow analysis