Design and Analysis of a Negative Pressure Wall‐Climbing Robot With Adaptive Building Facades

This paper presents the development of an adaptive negative pressure adsorption wall‐climbing robot (WCR) designed for building exterior cleaning and maintenance. The study begins by analyzing the robot's adsorption principle and mechanical structure, proposing a force model for both static and dynamic states, and deriving the negative pressure conditions required for safe adhesion. Computational fluid dynamics (CFD) simulations are conducted to examine the distribution and flow characteristics of air in the adsorption chamber at various motor speeds. To enhance the robot's adaptability to diverse building surfaces, an adaptive negative pressure control system based on fuzzy PID control is designed and tested. The feasibility and effectiveness of the control system are validated through simulation and experimental results. Finally, real‐world tests are performed to assess the robot's performance across different building facades, including evaluations of its load capacity and anti‐air leakage capabilities. The results demonstrate that the proposed robot offers stable adsorption and improved adaptability, making it a promising solution for automated building maintenance in various environments. These findings provide valuable insights for the application of the WCR.