Micro Hexapod Robot Using Dual-axis Electromagnetic Actuator

2021 ◽  
Vol 31 (6) ◽  
pp. 597-603
Author(s):  
Quang Hoan Le ◽  
WangHun Lee ◽  
YoungShik Kim ◽  
Bong-Jo Ryu ◽  
Hyun-ho Shim ◽  
...  
Keyword(s):  
Electromagnetic Actuator ◽  
Hexapod Robot

A Cockroach-Like Hexapod Robot for Natural Terrain Locomotion

1997 ◽  
Author(s):  
Randall D. Beer ◽  
Roger Quinn ◽  
Roy Ritzmann ◽  
Hillel Chiel
Keyword(s):  
Hexapod Robot ◽  
Natural Terrain

scholarly journals Getting grip in changing environments: the effect of friction anisotropy inversion on robot locomotion

2021 ◽  
Vol 127 (5) ◽  
Author(s):  
Halvor T. Tramsen ◽  
Lars Heepe ◽  
Jettanan Homchanthanakul ◽  
Florentin Wörgötter ◽  
Stanislav N. Gorb ◽  
...  
Keyword(s):  
Energy Efficient ◽  
Legged Locomotion ◽  
Hexapod Robot ◽  
Friction Anisotropy ◽  
Anisotropic Friction ◽  
Walking Behavior ◽  
Robot Locomotion ◽  
Computational Morphology ◽  
Anisotropic Structures ◽  
Walking Environment

AbstractLegged locomotion of robots can be greatly improved by bioinspired tribological structures and by applying the principles of computational morphology to achieve fast and energy-efficient walking. In a previous research, we mounted shark skin on the belly of a hexapod robot to show that the passive anisotropic friction properties of this structure enhance locomotion efficiency, resulting in a stronger grip on varying walking surfaces. This study builds upon these results by using a previously investigated sawtooth structure as a model surface on a legged robot to systematically examine the influences of different material and surface properties on the resulting friction coefficients and the walking behavior of the robot. By employing different surfaces and by varying the stiffness and orientation of the anisotropic structures, we conclude that with having prior knowledge about the walking environment in combination with the tribological properties of these structures, we can greatly improve the robot’s locomotion efficiency.

Research of vibration and crack propagation controls on an asymmetrical cracked rotor

2021 ◽  
pp. 107754632199822
Author(s):  
Jun Liu ◽  
Zhu Han ◽  
Rong Hu
Keyword(s):  
Crack Propagation ◽  
Vibration Suppression ◽  
Control Method ◽  
Element Model ◽  
Electromagnetic Actuator ◽  
Contact Method ◽  
Cracked Rotor ◽  
Mapping Model ◽  
Differential Control ◽  
Opening And Closing

To investigate vibration characteristics and delay crack propagations of an asymmetric cracked rotor, the 3D finite element model of the rotor system with a nonlinear contact method is established. Resonance characteristics of the asymmetrical rotor without a crack and within different locations of a crack are investigated systematically. Numerical results show that a crack affects vibration frequencies and the unstable region of the rotor. Meanwhile, an improved proportional integral differential control method with the electromagnetic actuator is used to accomplish the delay crack propagation and the vibration suppression. Based on the mapping model of opening and closing states of a crack, the effects of rotational speeds, an unbalance, and asymmetries of the rotor are discussed in detail. Experimental results show that vibrations and the breathing behavior of cracks in the rotor with the electromagnetic actuator can be suppressed, and the effectiveness of the proposed mapping model of opening and closing states of a crack is verified.

scholarly journals A reconfigurable soft wall-climbing robot actuated by electromagnet

2021 ◽  
Vol 18 (2) ◽  
pp. 172988142199228
Author(s):  
Wendong Zhang ◽  
Wen Zhang ◽  
Zhenguo Sun
Keyword(s):  
Working Conditions ◽  
Horizontal Plane ◽  
Vertical Wall ◽  
Flaw Detection ◽  
Surface Cleaning ◽  
Electromagnetic Actuator ◽  
Climbing Robot ◽  
Soft Wall ◽  
Power Frequency

This article demonstrates a reconfigurable soft wall-climbing robot actuated by electromagnet. The robot follows the earthworm movement gait and is capable of translation, deflection, and rotation movement while working on a sloping ferromagnetic wall. Also the electromagnetic actuator provides a significant improvement in expeditiousness compared with existing actuation modes. The speed of the robot can be adjusted by modulating the power frequency. When the period of motion cycle is 30 ms, the speed is about 26.5 mm s−1, and the robot can rotate with a velocity of 14.1° s−1 on the horizontal plane. It can also climb a vertical wall at the speed of 12.6 mm s−1. The robot is composed of two kinds of modules which can be connected by the magnets embedded. It can also be reconfigured in different working conditions, such as crossing an inaccessible gap, and thus has the potential to be used in flaw detection, surface cleaning, and exploration of ferromagnetic structures.

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