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Informations générales |
| Auteur |
Liu, Rong; Chen, Rui; Shen, Hua; Zhang, Rong |
| Publié |
InTech Open Access Publisher, 2013
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| ISBN |
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| Abstract |
Electrostatic adhesion technology has broad
application prospects on wall climbing robots because of
its unique characteristics compared with other types of
adhesion technologies. A double tracked wall climbing
robot based on electrostatic adhesion technology is
presented including electrode panel design, mechanical
structure design, power supply system design and
control system design. A theoretical adhesion model was
established and the electrostatic potential and field were
expressed by series expansions in terms of solutions of
the Laplace function. Based on this model, the
electrostatic adhesion force was calculated using the
Maxwell stress tensor formulation. Several important
factors which may influence the electrostatic adhesion
force were analysed and discussed by both FEM
simulation and theoretical calculation. In addition,
experiments on the adhesion performance of the
electrode panel and the climbing performance of the
robot on various wall materials were carried out. Both the
simulation and experiment results verify the feasibility of
electrostatic adhesion technology being applied on wall
climbing robots. The theoretical model and calculation
method for the electrostatic adhesion force proposed in
this paper are also justified. |
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International Journal of Advanced Robotic Systems
Auteur: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publié: 2004
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