Analysis and experiments on pulse vibrating suction method for wall climbing robot

This template explains and demonstrates how to prepare your camera-ready paper for In this paper, the pulse vibrating suction method (PVSM) for wall climbing robot is presented, which is based on the principle of vibrating suction method. To analyze this method in depth and evaluate its performance, a simplified mathematical model based on some assumptions is built, and a new experimental platform for single suction cup is developed as well. Experiments on single suction cups indicate that the experimental results match the mathematical model well with only small deviation, which is caused by some unknown factors. Then experiments are carried out on a vibrating suction module which was developed previously. With the PVSM, the suction module can stay on the wall stabely, which verifies the vadality of this vibrating method. Suction failures for the module are also analyzed with different control parameters.