Detection of Reduced Magnetic Attraction Force Using a Disturbance Observer for Crawler Robots

In this paper a formula of estimation of magnetic attraction force in the relative base – air-gap – absolute base system is presented. The attraction force of the relative base (forcer) to the ferromagnetic absolute base (stator) is a result of the attraction of permanent magnets, which are the components of the electromagnetic modules. The physical model and mathematical description of the particular electromagnetic module are presented.

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Study for a Wall-Climbing Robot Magnetic Attraction Force of An Electronically Controlled Permanent Magnet

CONVERTER ◽

10.17762/converter.110 ◽

2021 ◽

pp. 119-132

Author(s):

Xin Chen, Wuwei Feng, Yulian Zhang, Minglei Li, Shifei Wu

Keyword(s):

Permanent Magnet ◽

Outer Surface ◽

Magnetic Force ◽

Pulse Current ◽

Resistance Force ◽

Climbing Robot ◽

Attraction Force ◽

Magnetic Attraction ◽

Magnetizing Force ◽

Magnetic Adsorption

With the advancement in science and technology, a wall-climbing robot attached to the ship's outer surface is increasingly replacing humans in the rust removal. The magnetic force is not just the adsorption force but also the moving resistance force, which is currently the technological bottleneck in wall-climbing robotics based on magnetic adsorption. This paper proposes a novel wall-climbing robot based on electrically controlled permanent magnet technology to solve this problem. An electrically controlled permanent magnetic wall-climbing robot is proposed to realize the function of magnetization and demagnetization by changing the pulse current. The results of the experiments reveal that the magnetizing force is adequately adsorbed on the ship's outer surface. The magnetic attraction force is close to 0 N during demagnetization, meaning that the system is fully unloaded, as predicted by the theoretical analysis.

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Analysis of the Vertical Driving Performance of Multiple Connected Pipe-Climbing Microrobots with Magnetic Wheels

Micromachines ◽

10.3390/mi10080524 ◽

2019 ◽

Vol 10 (8) ◽

pp. 524

Author(s):

Munehisa Takeda ◽

Isao Shimoyama

Keyword(s):

External Force ◽

Driving Performance ◽

Attraction Force ◽

Magnetic Attraction ◽

Small Cylinder ◽

Vertical Climbing

In this study, we analyzed the vertical driving performance of multiple connected magnetic wheel-driven microrobots when moving up and down a small cylinder that simulated a pipe. The dynamics of pipe climbing by the magnetic wheel-driven microrobot were analyzed considering the magnetic attraction force and slip; a vertical climbing simulator was developed considering the hoop force and external force from the adjacent microrobots to determine the magnetic attraction force required for multiple connected microrobot pipe climbing. A prototype of an independent vertical climbing microrobot, 5 mm long, 9 mm wide, and 6.5 mm high, and prototypes of 10 microrobots were manufactured to evaluate the vertical driving performance. The usefulness was verified by showing that three driving microrobots can move seven non-driving microrobots comprising 60% of their own weight up and down along a small cylinder.

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