scholarly journals A New Family of Magnetic Adhesion Based Wall-Climbing Robots

2018 ◽  
pp. 223-230 ◽  
Author(s):  
Stefano Seriani ◽  
Lorenzo Scalera ◽  
Alessandro Gasparetto ◽  
Paolo Gallina
Keyword(s):  
Climbing Robots ◽  
New Family ◽  
Magnetic Adhesion

scholarly journals Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

Robotics ◽  
2019 ◽  
Vol 8 (2) ◽  
pp. 41 ◽  
Author(s):  
Stefano Seriani ◽  
Lorenzo Scalera ◽  
Matteo Caruso ◽  
Alessandro Gasparetto ◽  
Paolo Gallina
Keyword(s):  
Experimental Validation ◽  
Mobile Systems ◽  
Curved Surfaces ◽  
Climbing Robots ◽  
Modeling Simulation ◽  
New Family ◽  
Magnetic Elements ◽  
Freely Moving ◽  
Sandwich Configuration ◽  
Magnetic Adhesion

In this paper, we present the modeling and validation of a new family of climbing robots that are capable of adhering to vertical surfaces through permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration, with the surface to climb interposed between them. Thanks to this configuration, the mobile robot can climb even nonferromagnetic and curved surfaces; moreover, the master cart is capable of freely moving on the floor by detaching from the follower. In this paper, we propose the mathematical modeling, simulation, and experimental validation of this kind of robots, with particular focus on the transitions between floor and climbing motion.

scholarly journals Permanent Magnetic System Design for the Wall-Climbing Robot

2006 ◽  
Vol 3 (3) ◽  
pp. 151-159 ◽  
Author(s):  
W. Shen ◽  
J. Gu ◽  
Y. Shen
Keyword(s):  
Magnetic System ◽  
Dynamic Force ◽  
Climbing Robot ◽  
Force Analysis ◽  
Climbing Robots ◽  
Adhesion Mechanism ◽  
Magnetic Systems ◽  
Different Types ◽  
Design Requirements ◽  
Magnetic Adhesion

This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.

scholarly journals Mini Review: Comparison of Bio-Inspired Adhesive Feet of Climbing Robots on Smooth Vertical Surfaces

2021 ◽  
Vol 9 ◽  
Author(s):  
Pongsiri Borijindakul ◽  
Aihong Ji ◽  
Zhendong Dai ◽  
Stanislav N. Gorb ◽  
Poramate Manoonpong
Keyword(s):  
Essential Factor ◽  
Climbing Robots ◽  
Wet Adhesion ◽  
Dry Adhesion ◽  
Different Types ◽  
Climbing Ability ◽  
The Right ◽  
Magnetic Adhesion

Developing climbing robots for smooth vertical surfaces (e.g., glass) is one of the most challenging problems in robotics. Here, the adequate functioning of an adhesive foot is an essential factor for successful locomotion performance. Among the various technologies (such as dry adhesion, wet adhesion, magnetic adhesion, and pneumatic adhesion), bio-inspired dry adhesion has been actively studied and successfully applied to climbing robots. Thus, this review focuses on the characteristics of two different types of foot microstructures, namely spatula-shaped and mushroom-shaped, capable of generating such adhesion. These are the most used types of foot microstructures in climbing robots for smooth vertical surfaces. Moreover, this review shows that the spatula-shaped feet are particularly suitable for massive and one-directional climbing robots, whereas mushroom-shaped feet are primarily suitable for light and all-directional climbing robots. Consequently, this study can guide roboticists in selecting the right adhesive foot to achieve the best climbing ability for future robot developments.

OPTIMAL DESIGN OF A MAGNETIC ADHESION FOR CLIMBING ROBOTS

2013 ◽  
Author(s):  
PETER WARD ◽  
DIKAI LIU ◽  
KEN WALDRON ◽  
MAHDI HASAN
Keyword(s):  
Optimal Design ◽  
Climbing Robots ◽  
Magnetic Adhesion

A Survey of Technologies for Climbing Robots

2012 ◽  
Vol 236-237 ◽  
pp. 556-562 ◽  
Author(s):  
Rong Gang Yue ◽  
Shao Ping Wang
Keyword(s):  
Climbing Robot ◽  
Attraction Force ◽  
Climbing Robots ◽  
Vacuum Suction ◽  
Different Types ◽  
Magnetic Adhesion

To replace human workers in dangerous environments or difficult-to-access places, climbing robots with the ability to travel on different types of surfaces (floors, walls, ceilings) and to walk between such surfaces were developed. The most important technology for a climbing robot is how to resist gravity, and adhere to surfaces. This paper presents mainly six types of adhesion technologies to ensure climbing robot sticks to wall surfaces: magnetic adhesion, vacuum suction techniques, attraction force generators, grasping grippers, bio-mimetic approaches inspired by climbing animals, and compliant electroadhesion, et al. Moreover, this paper represents advantages and limitations of adhesion technologies.

scholarly journals INVESTIGATIONS ON THE EFFECT OF WALL THICKNESS ON MAGNETIC ADHESION FOR WALL CLIMBING ROBOTS

2021 ◽  
Vol 36 (0) ◽  
Author(s):  
Jaise Jose ◽  
Dinakaran Devaraj ◽  
Ramya Manthanam Mathanagopal ◽  
Kuppan Chetty Ramanathan ◽  
Mohammad O. Tokhi ◽  
...  
Keyword(s):  
Wall Thickness ◽  
Climbing Robots ◽  
Magnetic Adhesion

Microstructure and crystal symmetry of Pb2Sr2(Y/Ca)Cu3O9−δ

1990 ◽  
Vol 48 (4) ◽  
pp. 64-65
Author(s):  
Y. P. Lin ◽  
J. S. Xue ◽  
J. E. Greedan
Keyword(s):  
Electron Diffraction ◽  
High Temperature Superconductors ◽  
Carbon Film ◽  
Basic Structure ◽  
Crystal Symmetry ◽  
X Ray Diffraction ◽  
X Ray ◽  
Space Groups ◽  
New Family ◽  
Convergent Beam

A new family of high temperature superconductors based on Pb2Sr2YCu3O9−δ has recently been reported. One method of improving Tc has been to replace Y partially with Ca. Although the basic structure of this type of superconductors is known, the detailed structure is still unclear, and various space groups has been proposed. In our work, crystals of Pb2Sr2YCu3O9−δ with dimensions up to 1 × 1 × 0.25.mm and with Tc of 84 K have been grown and their superconducting properties described. The defects and crystal symmetry have been investigated using electron microscopy performed on crushed crystals supported on a holey carbon film.Electron diffraction confirmed x-ray diffraction results which showed that the crystals are primitive orthorhombic with a=0.5383, b=0.5423 and c=1.5765 nm. Convergent Beam Electron Diffraction (CBED) patterns for the and axes are shown in Figs. 1 and 2 respectively.

A new family of fluorescent calcium indicators designed to resist leakage or for measuring calcium near membranes

1994 ◽  
Vol 52 ◽  
pp. 168-169
Author(s):  
Martin Poenie ◽  
Akwasi Minta ◽  
Charles Vorndran
Keyword(s):  
Metal Binding ◽  
Acetoxymethyl Ester ◽  
Binding Properties ◽  
Fura 2 ◽  
New Family ◽  
Anion Transporter ◽  
Calcium Indicator ◽  
Calcium Indicators ◽  
High Calcium ◽  
Intracellular Compartmentalization

The use of fura-2 as an intracellular calcium indicator is complicated by problems of rapid dye leakage and intracellular compartmentalization which is due to a probenecid sensitive anion transporter. In addition there is increasing evidence for localized microdomains of high calcium signals which may not be faithfully reported by fura-2.We have developed a new family of fura-2 analogs aimed at addressing some of these problems. These new indicators are based on a modified bapta which can be readily derivatized to produce fura-2 analogs with a variety of new properties. The modifications do not affect the chromophore and have little impact on the spectral and metal binding properties of the indicator. One of these new derivatives known as FPE3 is a zwitterionic analog of fura-2 that can be loaded into cells as an acetoxymethyl ester and whose retention in cells is much improved. The improved retention of FPE3 is important for both cuvettebased measurements of cell suspensions and for calcium imaging.

Scanning tunneling microscopy and atomic force microscopy: New tools for biology

1989 ◽  
Vol 47 ◽  
pp. 778-779
Author(s):  
CE Bracker ◽  
P. K. Hansma
Keyword(s):  
Physical Property ◽  
Scanning Probe ◽  
Scanning Tunneling ◽  
Small Scale ◽  
Tunneling Microscopy ◽  
Force Microscopy ◽  
New Family ◽  
Small Probe ◽  
Atomic Force ◽  
Transmission Electron

A new family of scanning probe microscopes has emerged that is opening new horizons for investigating the fine structure of matter. The earliest and best known of these instruments is the scanning tunneling microscope (STM). First published in 1982, the STM earned the 1986 Nobel Prize in Physics for two of its inventors, G. Binnig and H. Rohrer. They shared the prize with E. Ruska for his work that had led to the development of the transmission electron microscope half a century earlier. It seems appropriate that the award embodied this particular blend of the old and the new because it demonstrated to the world a long overdue respect for the enormous contributions electron microscopy has made to the understanding of matter, and at the same time it signalled the dawn of a new age in microscopy. What we are seeing is a revolution in microscopy and a redefinition of the concept of a microscope.Several kinds of scanning probe microscopes now exist, and the number is increasing. What they share in common is a small probe that is scanned over the surface of a specimen and measures a physical property on a very small scale, at or near the surface. Scanning probes can measure temperature, magnetic fields, tunneling currents, voltage, force, and ion currents, among others.

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