Development of a Mobile Wall-Climbing Robot with a Hybrid Adhesion System

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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Design of permanent magnetic wheel-type adhesion-locomotion system for water-jetting wall-climbing robot

Advances in Mechanical Engineering ◽

10.1177/1687814018787378 ◽

2018 ◽

Vol 10 (7) ◽

pp. 168781401878737 ◽

Cited By ~ 4

Author(s):

Wei Song ◽

Hongjian Jiang ◽

Tao Wang ◽

Daxiong Ji ◽

Shiqiang Zhu

Keyword(s):

High Efficiency ◽

Adhesion Force ◽

Low Cost ◽

Air Gap ◽

Operating Efficiency ◽

Climbing Robot ◽

Magnet System ◽

Adhesion System ◽

Increase Service Life ◽

Steel Surfaces

Regular surface-maintenances are necessary for high structures to increase service life. The traditional manual operation has shortcomings like limited maneuverability, poor operating quality, low operating efficiency, and high risk of physical harm, which makes it urgent to develop wall-climbing robot for carrying out surface-maintenances of high structures with high efficiency, low cost, and good protection of operators. In this article, we have developed a wheeled wall-climbing robot that uses a permanent magnet adhesion system to climb on large steel surfaces. Wheel traction to avoid slippage is increased by using inflated rubber tire while maintaining a desired air gap for the magnet system. Research is directed at designing a lightweight magnet system to provide an optimum adhesion force and at determining required tire pressures to maintain a specified air gap between the magnets and the surface.

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Wall Climbing Robot Employing Multi-body Flexible Permanent Magnetic Adhesion System

Journal of Mechanical Engineering ◽

10.3901/jme.2008.06.177 ◽

2008 ◽

Vol 44 (06) ◽

pp. 177 ◽

Cited By ~ 6

Author(s):

Zhongcheng GUI

Keyword(s):

Climbing Robot ◽

Adhesion System ◽

Multi Body ◽

Magnetic Adhesion

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Thermodynamical Modelling and Control of an Adhesion System for a Climbing Robot

Proceedings of the 2005 IEEE International Conference on Robotics and Automation ◽

10.1109/robot.2005.1570526 ◽

2006 ◽

Cited By ~ 4

Author(s):

J. Wettach ◽

C. Hillenbrand ◽

K. Berns

Keyword(s):

Climbing Robot ◽

Adhesion System ◽

And Control

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Omnidirectional locomotion and traction control of the wheel-driven, wall-climbing robot, Cromsci

Robotica ◽

10.1017/s0263574711000294 ◽

2011 ◽

Vol 29 (7) ◽

pp. 991-1003 ◽

Cited By ~ 25

Author(s):

D. Schmidt ◽

C. Hillenbrand ◽

K. Berns

Keyword(s):

Mobile Robots ◽

Negative Pressure ◽

Control Mechanism ◽

Robot Navigation ◽

Climbing Robot ◽

Dynamic Effects ◽

Traction Control ◽

Locomotion System ◽

Adhesion System ◽

Cost Efficient

SUMMARYSafe and cost-efficient inspection of large concrete buildings is a great challenge for mobile robots. This paper presents the locomotion system of the climbing robot, Cromsci, which uses three steerable standard wheels and negative pressure adhesion. We will introduce criteria to avoid robot slip and tilt, and methods to enhance stability. One elementary part is the close-loop-controlled adhesion system with seven individual negative pressure chambers to balance out tilt or dynamic effects caused by leaky pressure chambers. The second part is the locomotion control using a special traction control mechanism to enhance robot navigation, which will also be presented here.

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