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.

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.

scholarly journals In-Depth Verification of a Numerical Model for an Axisymmetric RC Dome

Symmetry ◽  
2021 ◽  
Vol 13 (11) ◽  
pp. 2152
Author(s):  
Przemysław Czumaj ◽  
Sławomir Dudziak ◽  
Zbigniew Kacprzyk
Keyword(s):  
Three Dimensional ◽  
Spatial Models ◽  
Detailed Comparison ◽  
The Finite Element Method ◽  
Robot System ◽  
Engineering Structures ◽  
Computational Analyses ◽  
Computational Systems ◽  
Good Agreement ◽  
Made In

The designers of civil engineering structures often have to face the problem of the reliability of complex computational analyses performed most often with the Finite Element Method (FEM). Any assessment of reliability of such analyses is difficult and can only be approximate. The present paper puts forward a new method of verification and validation of the structural analyses upon an illustrative example of a dome strengthened by circumferential ribs along the upper and lower edges. Four computational systems were used, namely Abaqus, Autodesk Robot, Dlubal RFEM, and FEAS. Different models were also analyzed—two-dimensional (2D) and three-dimensional (3D) ones using continuum, bar, and shell finite elements. The results of the static (with two kinds of load—self-weight and load distributed along the upper ring) and modal analyses are presented. A detailed comparison between the systems’ and models’ predictions was made. In general, the spatial models predicted a less stiff behavior of the analyzed dome than the planar models. The good agreement between different models and systems was obtained for the first natural frequency with axisymmetric eigenmodes (except from the Autodesk Robot system). The presented approach to the verification of complex shell–bar models can be effectively applied by structural designers.

scholarly journals Validation of Doppler Temperature Coefficients and Component Power Distribution for the Advanced Neutronics Component Program KYLIN V2.0

2021 ◽  
Vol 9 ◽  
Author(s):  
Lei Jichong ◽  
Xie Jinsen ◽  
Chen Zhenping ◽  
Yu Tao ◽  
Yang Chao ◽  
...  
Keyword(s):  
Engineering Design ◽  
Power Distribution ◽  
Nuclear Power ◽  
Nuclear Engineering ◽  
Temperature Coefficients ◽  
The Core ◽  
Fuel Assemblies ◽  
Design Requirements ◽  
Design Software ◽  
Good Agreement

This work is interested in verifying and analyzing the advanced neutronics assembly program KYLIN V2.0. Assembly calculations are an integral part of the two-step calculation for core design, and their accuracy directly affects the results of the core physics calculations. In this paper, we use the Doppler coefficient numerical benchmark problem and CPR1000 AFA-3G fuel assemblies to verify and analyze the advanced neutronics assembly program KYLIN V2.0 developed by the Nuclear Power Institute of China. The analysis results show that the Doppler coefficients calculated by KYLIN V2.0 are in good agreement with the results of other well-known nuclear engineering design software in the world; the power distributions of AFA-3G fuel assemblies are in good agreement with the results of the RMC calculations, it’s error distribution is in accordance with the normal distribution. It shows that KYLIN V2.0 has high calculation accuracy and meets the engineering design requirements.

Determination of Adhesion Forces Between Smooth and Structured Solids

2012 ◽  
Author(s):  
Hartmut R. Fischer ◽  
Edwin R. M. Gelinck
Keyword(s):  
Adhesion Force ◽  
Smooth Surfaces ◽  
Adhesion Forces ◽  
Real Area Of Contact ◽  
Study Results ◽  
Colloidal Probes ◽  
Good Agreement ◽  
Real Area

The tendency of smooth surfaces to stick spontaneously to each other is becoming a serious problem, with: a) the increasing quality in surface finish for many components and systems, b) on miniaturization in mechanical components, and c) in demanded precision of positioning of parts in high-end equipment machines and systems. Surfaces tend to be made smoother in order to gain flatness or in order to fulfill the need for more precise and reproducible positioning of parts. Adhesion or even sticking of the surfaces is a major showstopper for these applications. There are several measures that can be taken in order to reduce spontaneous adhesion. Quantification of the effectiveness of the chosen solution is most often done using an AFM with probes varying from 1 nm to 8 micron of contact diameter. A serious disadvantage in measuring adhesion by sharp tips is the wear of the tips. Sharp tips wear easily, resulting in undefined contact areas. When the real area of contact is not well defined, the quantification of the adhesion force is not significant. In the current study results of AFM measurements from literature with different tip diameters of colloidal probes are compared with measurements we performed using AFM cantilevers with a plateau tip and using probes from large spheres using an alternative setup (UNAT). These methods give results that are in good agreement with values found in literature. Large contacting surface enhance the quality of the measured adhesion values. Another part of the study deals with a deliberately roughening of smooth surfaces to minimize (spontaneous) adhesion. Good agreement has been found with existing results. For the use of larger surfaces it is important that the surfaces to be tested are extremely clean. Particles on smooth surface do influence the measurements quite easily. Especially for larger areas, the possibility of encountering particles on the surface are more likely, when particles are present. For the measurements in this study a lot of care has been taken therefore to remove contamination: particles as well as contamination of organic origin.

Sign in / Sign up

Export Citation Format

Share Document