OPTIMAL DESIGN OF A MAGNETIC ADHESION FOR CLIMBING ROBOTS

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.

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

Frontiers in Bioengineering and Biotechnology ◽

10.3389/fbioe.2021.765718 ◽

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.

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Optimal Design of a Magnetic Take-Up Roll for Amorphous Ribbon

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.719-720.284 ◽

2015 ◽

Vol 719-720 ◽

pp. 284-290

Author(s):

Yan Ming Song ◽

Yang Yang

Keyword(s):

Finite Element Method ◽

Finite Element ◽

Optimal Design ◽

Production Line ◽

High Speed ◽

Adhesion Force ◽

Amorphous Ribbon ◽

Simulation Models ◽

Structure Parameters ◽

Magnetic Adhesion

Take-up roll is a key component employed in amorphous ribbon production line. The roll should supply enough adhesion fore to take up the flying ribbon with a high speed. In this paper, a novel magnetic take-up roll (MTUR) is proposed. Optimize the structure parameters with a finite element method to obtain enough and stable magnetic adhesion force (MAF). The different simulation models are established to calculate the performances of the MTUR. A prototype of the MTUR was manufactured and tested. Experiments prove that the optimal MTUR can generate MAF to overcome the resistant force that amorphous ribbon suffering in take-up process in certain air gap range

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Design of a high capacity Electro Permanent Magnetic adhesion for climbing robots

2012 IEEE International Conference on Robotics and Biomimetics (ROBIO) ◽

10.1109/robio.2012.6490969 ◽

2012 ◽

Cited By ~ 4

Author(s):

Peter Ward ◽

Dikai Liu

Keyword(s):

High Capacity ◽

Climbing Robots ◽

Magnetic Adhesion

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

Robotics ◽

10.3390/robotics8020041 ◽

2019 ◽

Vol 8 (2) ◽

pp. 41 ◽

Cited By ~ 6

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.

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A Survey of Technologies for Climbing Robots

Applied Mechanics and Materials ◽

10.4028/www.scientific.net/amm.236-237.556 ◽

2012 ◽

Vol 236-237 ◽

pp. 556-562 ◽

Cited By ~ 1

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.

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