DP-Climb: A Hybrid Adhesion Climbing Robot Design and Analysis for Internal Transition

This paper proposes a double propeller wall-climbing robot (DP-Climb) with hybrid adhesion system based on the biomimetic design principle to address problems of single adhesion-powered wall climbing robots (WCRs). Such include poor maneuverability and adaptability orthogonal working surfaces different roughness flatness, weak flexibility ground-wall transition motion, easy stand stilling transition,. Based clinging characteristics creatures, combines rotor units’ reverse thrust, drive wheels’ driving torque, force offered by coating material power through coupled control strategy. Newton–Euler equations, robot’s kinematic during internal motion were analyzed, safe conditions obtained, dynamics model was established. provided basis for coupling between units. Finally, an PID strategy DP-Climb proposed. Through mechanical aerodynamic characteristic experiments, it is verified that actual output pulling can meet demand. The experimental results show proposed enable complete mutual smoothly speed 0.12 m/s. maximum reach 0.45 m/s, which verifies flexibly quickly specified position in target area quickly. robustness WCR complex application environments are improved.