A new approach to the modelling of vortex-based suction cups for climbing robot adhesion

In this work an innovative approach to the modeling of vortex-based suction cups is presented. This new kind of active suction cup provides a strong adhesion force. The cup is of non-contacting type, reducing friction between cup and wall, allowing thus to be used as a conventional sliding suction cup with a very low friction, since no sealing brushes or gaskets are required. Several sets of measurements of the cup internal pressure and associated payload have been acquired. In order to better understand and describe the cup behavior, a model has been developed allowing to properly identify the relation between the adhesion force and the fan angular velocity, using information on internal pressure. This relation has been validated by a comparison with experimental data.