This paper presents a small-sized wall climbing robot for anti-terror and rescue scout tasks, which takes advantage of a method called critical suction. In this paper the critical suction mechanism is discussed in theory. Furthermore, the fluid model of the robot's suction system is set up using the fluid network theory. According to the dynamic response equation of the negative pressure inner the suction cup, the robot suction process on the wall is simulated. Finally, the results of the experiments for adsorbing on the sorts of walls proved this type of robot can be adsorbed on the surfaces.
['Shuyan Liu', 'Xueshan Gao', 'Kejie Li', 'Jun Li', 'Xingguang Duan']
A small-sized wall-climbing robot for anti-terror scout