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| Research on Design Method of Vacuum-sorbing and Pulling Forces of Wall-suspending Cleaning Robot |
| ZHANG Zhao-jun1, YAN Ning2, ZONG Guang-hua1 |
1. Robotics Institute, Beihang University, Beijing 100083, China;
2. The Equipment Research Institute of the Second Artillery, Beijing 100085, China |
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Abstract Conditions of sucking up and moving of robot on the wall are given. Geometrical and physical factors restricting elevation ratio of wall-cleaning robot body are discussed. Methods are given to improve the elevation ratio. Designing method of vacuum-sorbing and pulling forces is studied according to the condition and requirement of elevation ratio.
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Received: 15 July 2004
Published: 15 January 2005
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