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Research Question: How to improve the performance of the wall climbing robot in movement simultaneously ensure the robot can move smoothly and not damage the wall's paint?

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Background

1. Remove the mold on the wall and celling
2. Robot need to climb the wall and celling
3. Robot need to carry the weight with it

Research Approach

  • Using Physics knowledge to calculate important parameters

  • Design the robot with parameters

  • Prototype and test the robot

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Design Process

  • First, we must analyze the force to understand how to make things suck on the wall. We need to understand two different situations. The free-body diagram is below.

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Design Process

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Side Wall
Friction = Gravity
Force from different pressure = The support from the wall

Ceiling
Force from different pressure = Gravity

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How to produce Fp?

  • Fan rotate at high speed to make the air go out of a specific area, which make the area become negative pressure area

  • Pressure difference produce the force Fp

Force Analysis

Fan Selection

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Results

Mathematically analysis of Fan

  • After selecting the type of Fan, we need to do more detailed work to design a fan. After learning from the patents, we can have the formula below.

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Assumptions:

  • n rotation speed : 3000 rpm – 10000rpm

  • Friction coefficient : 0.6 – 1.2

  • Maximum weight of the robot: 5kg

  • Balance the size and the weight

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After calculation, we can reach the assumptions below:

  1. Remain the same The detailed parameters of the Fan will impact the constant in the picture. Furthermore, the relevant patent is in the reference. The design follows the methods in the patents.

  2. Air Intake Since different types of fans have different air routes, we need to use different designs to help the things have better suction. For Axial Fan, the air will go in around the center axis of the Fan and go out at the center axis of the Fan. Thus, the air intake needs to cover the center part. For Centrifugal Fan, the air will go in through the air intake for the center axis and go out following the movement of the second layer. So we have the second type of air intake. Nevertheless, we found it did not work. After consulting with the professionals, we find that if the air intake is too big, the air may go out through the air intake due to the centrifugal force. Finally, we have the final vision of the air intake, whose size is the same as the size of the first layer of the Fan. This design makes sure we can acquire enough suction.

 
Impact

  • Finish the mechanical design

  • Make the robot can stick on the wall

  • Give out the maximum weight that robot can car


Future Plan

  • Adjust the wheels to move and improve the movement

  • Try to carry weight with robot

  • Figure out if there is a significant change of weight when the robot carrying water to move up

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