The adsorption force self-adjustment for the aircraft skin inspection robot with double frames

Aiming at the aircraft skin inspection robot with double frames, a novel adsorption system is designed, in which the adsorption force between the suction cup and the surface of the aircraft is determined by the curvature change. In order to guarantee an optimal adsorption of the robot on the surface during the movement, the principal object is to determine the minimum value of the adsorption force in case of slipping or overturning. The static force analysis of the robot on the surface of aircraft is dealt with, so that the relationship between the minimum value of the adsorption force and the offset angle of the robot barycenter can be expressed. The adsorption system structure is described on the basis of the adsorption adjustment strategy. The experimental results prove the feasibility of the adsorption system with force self-adjustment.