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

2008 ◽  
Vol 44 (06) ◽  
pp. 177 ◽  
Author(s):  
Zhongcheng GUI
Keyword(s):  
Climbing Robot ◽  
Adhesion System ◽  
Multi Body ◽  
Magnetic Adhesion

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.

Dynamic analysis during internal transition of a compliant multi-body climbing robot with magnetic adhesion

2014 ◽  
Vol 28 (12) ◽  
pp. 5175-5187 ◽  
Author(s):  
Sungmin Nam ◽  
Jongkyun Oh ◽  
Giuk Lee ◽  
Jongwon Kim ◽  
TaeWon Seo
Keyword(s):  
Dynamic Analysis ◽  
Climbing Robot ◽  
Internal Transition ◽  
Multi Body ◽  
Magnetic Adhesion

DEVELOPMENT OF A MULTI-BODY WALL CLIMBING ROBOT WITH TRACKED WHEEL MECHANISM

2010 ◽  
Author(s):  
HWANG KIM ◽  
KUNCHAN SEO ◽  
KYUHEE LEE ◽  
JONGWON KIM ◽  
HONG SEOK KIM
Keyword(s):  
Body Wall ◽  
Climbing Robot ◽  
Multi Body

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.

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