Minglu Chi, Shuaibing Chang, Ruihua Ren, Jinyu Wang, Xueyan Sun, Jiawen Jia, and Xiaoyan Qian


Integrated new product development, reverse thrust adsorption, computational fluid dynamics, wall-climbing robot, Mecanum wheel


To address the problems related to the cleaning of building exterior walls, a reverse thrust adsorption wall-climbing robot (RTAWCR) is designed by combining the theory of inventive problem solving (TRIZ) and integrated new product development (INPD) methods. In the application process of the INPD method, the social, economic, technological (SET) analysis and brainstorming methods are used to identify product gaps, and a qualitative matrix is used to evaluate the results. In the opportunity understanding stage, the TRIZ method is used to analyse the product and determine the various features of the wall-climbing robot (WCR), and then determine the product definition of the opportunity understanding stage. The solutions are evaluated by the ideal final result (IFR) method, Goldfish method, and nine-screen method. Based on the completeness rule, an RTAWCR is designed to meet the conditions. In this paper, an RTAWCR is presented that can navigate on the wall structure and steadily move on the wall surface. Using the omnidirectional mobility of mecanum wheels, the RTAWCR can turn in place and move horizontally. Based on the Newton–Euler theorem and the sliding flow theory, the thrust model of the ducted fan is developed. The adsorption characteristics of the designed RTAWCR are analysed by the computational fluid dynamics (CFD) method, and the airflow characteristics around the ducted fan are revealed. The simulation and experimental results indicate that the RTAWCR can move in all directions on the surface of cement and brick walls with different roughness and complete the cleaning task quickly. This paper uses the Altshuller’s TRIZ method as the basis for the innovative concept design of WCRs. The fusion of the TRIZ theory and INPD methods can well solve problems related to absorption, stability, and walking efficiency in the design of RTAWCRs and has an important role in promoting the innovative design of products. ∗ School of Intelligent Engineering, Henan Institute of Technology, Xinxiang, China; e-mail: {cmlcml86, zhuadong87, 3590638950}; {1036246365, 3167573216}; ∗∗ School of Economics, Henan Institute of Technology, Xinxiang, China; e-mail: Corresponding author: Shuaibing Chang

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