Abstract-This paper describes the thermodynamical model of a vacuum system for a climbing robot. Based on this model a simulation system is described, which is used to evaluate the influence of leakage situations on the adhesion system and to test control approaches. As a validation of the simulation parameters and the adhesion strategy a test platform was constructed and tested on concrete walls.
REF ) presents the thermodynamic model of a wall-climbing robot with 7 vacuum chambers and one reservoir.
Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Proceedings of the 2005 IEEE International Conference on Robotics and Automation
Engineering Computer Science