Modeling and simulation of electrostatic attraction force for climbing robots on the conductive wall material

Electrostatic adhesion technology having good application prospects on wall climbing robots has been extensively investigated in recent years. In this paper, an accurate analytical model that is derived from ideal the parallel-plate capacitor consisting of two different dielectric layers in series has been developed by the Maxwell stress tensor formulation for the electrostatic attraction force between a conductive material wall and the flexible electrodes pad. The analytical model of the adhesion force is verified through comparing the calculation results with the simulation data by the ANSYS finite element technique. And the computation results are demonstrated to be good agreement with the simulation data. The parameters such as electrodes geometrical properties, applied high voltage magnitude and so on, affect the electrostatics adhesion force also been revealed in this paper.