scholarly journals Experimental and Numerical Optimization of Magnetic Adhesion Force for Wall Climbing Robot Applications

2018 ◽  
pp. 18-24
Author(s):  
Anwar Sahbel ◽  
Ayman Abbas ◽  
Tariq Sattar
Keyword(s):  
Numerical Optimization ◽  
Adhesion Force ◽  
Climbing Robot ◽  
Magnetic Adhesion

Design of a wheeled wall climbing robot based on the performance of bio-inspired dry adhesive material

Robotica ◽  
2021 ◽  
pp. 1-14
Author(s):  
Hongkai Li ◽  
Xianfei Sun ◽  
Zishuo Chen ◽  
Lei Zhang ◽  
Hongchao Wang ◽  
...  
Keyword(s):  
Flat Surface ◽  
Thrust Force ◽  
Adhesion Force ◽  
Structure Design ◽  
Design Parameters ◽  
Climbing Robot ◽  
Adhesive Material ◽  
Ducted Fan ◽  
The Stability ◽  
Belt System

Abstract Inspired by gecko’s adhesive feet, a wheeled wall climbing robot is designed in this paper with the synchronized gears and belt system acting as the wheels by considering both motion efficiency and adhesive capability. Adhesion of wheels is obtained by the bio-inspired adhesive material wrapping on the outer surface of wheels. A ducted fan mounted on the back of the robot supplies thrust force for the adhesive material to generate normal and shear adhesion force whilemoving on vertical surfaces. Experimental verification of robot climbing on vertical flat surface was carried out. The stability and the effect of structure design parameters were analyzed.

Design and analysis of a climbing robot for pylon maintenance

2018 ◽  
Vol 45 (2) ◽  
pp. 206-219
Author(s):  
Xiaolong Lu ◽  
Shiping Zhao ◽  
Xiaoyu Liu ◽  
Yishu Wang
Keyword(s):  
Design Methodology ◽  
Adhesion Force ◽  
External Surface ◽  
Climbing Robot ◽  
Design And Development ◽  
New Approach ◽  
Content Type ◽  
Rotary Joint ◽  
Inspection And Maintenance ◽  
Practical Implications

Purpose The purpose of this paper is to describe the design and development of “Pylon-Climber II”, a 5-DOF biped climbing robot (degree of freedom – DOF) for moving on the external surface of a tower and assisting the electricians to complete some maintenance tasks. Design/methodology/approach The paper introduces a pole-climbing robot, which consists of a 5-DOF mechanical arm and two novel grippers. The gripper is composed of a two-finger clamping module and a retractable L-shaped hook module. The robot is symmetrical in structure, and the rotary joint for connecting two arms is driven by a linear drive mechanism. Findings The developed prototype proved a new approach for the inspection and maintenance of the electricity pylon. The gripper can reliably grasp the angle bars with different specifications by using combined movement of the two-finger clamping module and the retractable L-shaped hook module and provide sufficient adhesion force for the Pylon-Climber II. Practical implications The clamping experiments of the gripper and the climbing experiments of the robot were carried out on a test tower composed of some angle bars with different specification. Originality/value This paper includes the design and development of a 5-DOF biped climbing robot for electricity pylon maintenance. The climbing robot can move on the external surface of the electric power tower through grasping the angle bar alternatively. The gripper that is composed of a two-finger gripping module and a retractable L-shaped hook module is very compact and can provide reliable adhesion force for the climbing robot.

scholarly journals Analysis of Magnetic Wheel Adhesion Force for Climbing Robot

2019 ◽  
Vol 3 (1) ◽  
pp. 534-541
Author(s):  
Haydn Welch ◽  
Shyamal Mondal
Keyword(s):  
Adhesion Force ◽  
Climbing Robot

A Wall Climbing Robot Based on the Improved Electro Adhesion Technology

2013 ◽  
Vol 328 ◽  
pp. 56-61
Author(s):  
Jin Chao Guo ◽  
Guang Hui Dai ◽  
Guang Chao Cui
Keyword(s):  
Adhesion Force ◽  
Electrode Array ◽  
New Method ◽  
Climbing Robot ◽  
Insulating Layer ◽  
Self Cleaning

Electro adhesion is a novel adhesion technology, offering a new method for the designing of adhesion type of climbing robot. In this paper, an improved electro adhesion technology is put forward, using ERG (Electro Rheological Gel) as the insulating layer of electrode array. Experiments show that the adhesion force is enhanced by using ERG and the electrode array has self-cleaning function to some extent. Finally, a climbing robot was developed and it can climb kinds of walls (such as wood, glass and concrete), which proves the effectiveness of the improved electro adhesion technology.

The Design of Permanent Magnetic Adhesion System for Wall-Climbing Robot

2013 ◽  
Vol 300-301 ◽  
pp. 531-536 ◽  
Author(s):  
Yong Chen ◽  
Chang Ming Wang
Keyword(s):  
Dynamic Force ◽  
Climbing Robot ◽  
Adhesion Forces ◽  
Robot System ◽  
Halbach Array ◽  
Adhesion System ◽  
Design Requirements ◽  
Parameter Approximation ◽  
Magnetic Adhesion ◽  
Good Agreement

In order to satisfy the requirements on payload ability and maneuverability of the wall-climbing robot, a novel permanent magnetic adhesion system based on the linear Halbach array is designed. The permanent magnetic adhesion system and the wheel locomotion mechanism are employed in the robot system. By static and dynamic force analysis of the robot, design requirements about adhesion system are derived. The optimal dimensions of the mechanism are obtained using numerical modeling and parameter approximation method of first order partial derivative of dependent variables. Finally, the adhesion mechanism has been constructed and the maximum and minimum adhesion forces are measured and compared with numerical simulation and a good agreement is found.

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