Wall climbing robot based on negative pressure-thrust suction method

A new wall climbing robot suction method called ldquoNPT methodrdquo has been primarily proposed by our lab, it is based on compositive effect of negative pressure force and thrust. This paper presents the suction principle in detail, then the key parameters are given and a model of the robot is designed. Using computational fluid dynamics simulation, key parameters are analyzed. Finally the attraction-gap-motor speed curve is drawn through experimental tests. It is proved that this method is suitable for improving the robot's adhering ability and obstacle crossing ability.