Testing the application of Free Flapping Foils (FFF) as a method to improve adhesion in an electrostatic wall-climbing robot

In this paper, extensive testing on an electrostatic wall-climbing robot is carried out to examine the electrostatic adhesion force when using the Free Flapping Foils (FFF) method. This method is successfully applied to an electrostatic robot to enable it to stick more firmly, by about three times, on walls with different materials, including wood, plaster, granite, glass and climb wall with a continuous movement. The innovation in this paper is that successful tests were carried out, when using thin flexible electrodes made from aluminium foil and free movement of those electrodes. The FFF electrodes are flexible enough to get the shape and roughness of the wall and increases the contact surface. Thus, they increase the adhesion force and would also improve performance of the robot in rough surfaces. The experimental parameters including charging voltage, charging time, number of electrodes, area of electrodes, wall material (permittivity) and surface finishing of wall that affect the electrostatic carrying force were investigated. The robot could cross obstacles with different heights. The final robot was 1.27 Kg and able to convey 14 N extra load when sticking and climbing vertical walls.