This article presents an innovative wall-climbing robot for detection on smooth wall surfaces, which consists of a vacuum adsorption system and adhesion belts, making the robot flexible and effectively steerable. Moreover, the detailed attachment mechanism is further analyzed for the climbing tasks. Safe operating conditions, kinematics, and dynamic model are derived, respectively, indicating that at least the adsorption force of 30 N and the motor torque of 2 N·m are required for stable climbing of the robot. Furthermore, the prototype of the wall-climbing robot is manufactured and the climbing abilities are tested on various wall surfaces showing that the maximum moving speed and corresponding load are 7.11 cm/s and 0.8 kg on the concrete exterior wall, 5.9 cm/s and 0.75 kg on the ceramic brick wall, 6.09 cm/s and 0.85 kg on the lime wall, and 5.9 cm/s and 1 kg on the acrylic surface, respectively, which demonstrates that the robot has high stability and adaptability.

中文翻译：

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带吸附系统和胶带的爬壁机器人的分析与优化

本文介绍了一种创新的爬墙机器人，用于在光滑的墙面上进行检测，它由真空吸附系统和粘附带组成，使机器人灵活且可有效转向。此外，进一步分析了攀登任务的详细连接机制。分别推导出安全工况、运动学和动力学模型，表明机器人稳定爬升至少需要30 N的吸附力和2 N·m的电机扭矩。此外，制造了爬墙机器人样机，并在各种墙面上测试了爬墙能力，结果表明，最大移动速度和相应载荷分别为混凝土外墙上 7.11 cm/s 和 0.8 kg，5.9 cm/s 和陶瓷砖墙0.75公斤，石灰墙6.09厘米/秒和0.85公斤，5.