Vacuum Ratio of Vibrating Suction Method: Proposing, Mathematical Modeling, and Experiment

The concept of vacuum ratio for judging the quality of vibrating suction method, which applied to wall-climbing robot, is proposed and experimentally validated in this paper. It helps to select an optimal vibrating mode on a macro scale before designing a wall-climbing robot. The vacuum ratio is the impact of uncertain factors of different vibrating modes will be approximately same and can be eliminated simultaneously if all the adsorption conditions are same. In this paper, a square wave vibrating mode was chosen as a special case to deduce the vacuum ratio mathematical model. An experimental platform was developed and a series of vibrating experiments were performed to verify the validity and feasibility of the vacuum ratio methodology.