Proposing an adhesion unit for a traveling-wave-type, omnidirectional wall-climbing robot in airplane body inspection applications

This study focuses on proposing an adhesion unit for an omnidirectional robot that can inspect the body of an airplane and check its properties. We reveal relations of the adhesive force generated by the centrifugal fan with the adhesive part size, number of centrifugal fan revolutions, and leakage area between the unit and airplane body. We calculated the leakage area, and the unit was designed considering these results.