Abstract: The trapezoidal wave vibration adsorption method, which is different from the previous sinusoidal vibration adsorption method, is proposed to provide a more reliable negative pressure adsorption means for small wall-climbing robots. To verify that the trapezoidal wave vibration can produce higher negative pressure than the sinusoidal vibration, simplified mathematical models of the both are built and the calculation formulas for the average values of air pressure in the cavity of suction cup in making the two kinds of vibration are derived. Based on some reasonable assumptions, ratio K is defined to reduce the effects of unknown parameters on the vibration adsorption of suction cup. To verify the validity of the trapezoidal wave vibration and the correctness of mathematical model, an improved experimental platform, which can obtain more complete data than the previous one, is developed. The experimental result shows that the proposed trapezoidal wave vibration can produce higher negative pressure than the sinusoidal vibration. The experimental data prove the correctness of mathematical model. And the explanation for experimental error is presented.

Key words: Suction cup, Vibration adsorption method, Wall-climbing