Suction force of vibrating suction method based on pi theorem: Analysis and experiment

This paper presents an analysis method for calculating the suction force generated by the vibrating suction method, which is used for mini wall-climbing robots. Using this analysis method, an empirical equation based on the pi theorem was deduced. To verify the validity and feasibility of the empirical equation, an experimental platform was developed, and a series of vibrating experiments were performed. In the experiments, the sine vibration mode was chosen as a special case to determine the two coefficients of the empirical equation in the experimental condition of a certain suction cup and working plane. Then, the calculated suction force and the real suction force were compared and analysed. The results indicate that the empirical equation will satisfy the engineering application with a small margin of error if the amplitude and angular frequency of the vibrating suction method are not too small. In addition, the effect of amplitude and frequency on the average suction force of the sine vibration mode was also analysed and tested.

► An empirical equation based on pi theorem for calculating suction force of vibrating suction method was deduced.
► The effect of amplitude and frequency on the suction force by sine vibrating mode was analysed and tested.
► The validity and feasibility of the empirical equation was verified by a series of vibrating experiment.
► The empirical equation should be used in the condition of large amplitude and angular frequency.