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.
['Jens Wettach', 'Carsten Hillenbrand', 'Karsten Berns']
Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot