Design of Two-Stage Passive Compliant of Wall-Climbing Robot with High Curvature Self-Adaptation

A two-stage passive compliant adsorption mechanism for wall-climbing robots was proposed in this paper, which aims at improving the adaptive capacity of high curvature walls for wall-climbing robots. The mechanism, which relies on the elastic deformation of two series compliant units, can effectively improve the mechanism's compensation ability for the gap between adsorption chamber and high curvature walls. Through the compliant deformation of two compliant units, the mechanism can actively adapt to the wall surface characteristics and curvature changes. The significant advantages of this mechanism are that it can enhance the adsorption chamber's overall lateral stiffness and adaptive ability to curvature walls. The geometrical relationship between the mechanism and the high curvature walls is analyzed based on mathematical modeling, and the curvature variation range of the wall that the adsorption chamber can adapt is obtained. It was verified that the robot has better load capacity and motion performance with the two-stage compliant adsorption mechanism on high curvature walls.