Wall-climbing welding robots (WCWRs) can replace workers in manufacturing and maintaining large unstructured equipment, such as ships. The adhesion mechanism is the key component of WCWRs.As it is directly related to the robot's ability in relation to adsorbing, moving flexibly and obstacle-passing. In this paper, a novel non-contact adjustably magnetic adhesion mechanism is proposed. The magnet suckers are mounted under the robot's axils and the sucker and wall are in non-contact. In order to pass obstacles, the sucker and the wheel unit can be pulled up and pushed down by a lifting mechanism. The magnetic adhesion force can be adjusted by changing the height of the gap between the sucker and the wall by the lifting mechanism. In order to increase the adhesion force, the value of the sucker's magnetic energy density (MED) is maximized by optimizing the magnet sucker's structure parameters with a finite element method. Experiments prove that the magnetic adhesion mechanism has enough adhesion force and that the WCWR can complete wall-climbing work within a large unstructured environment.
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AbstractPurpose -This paper aims to present a robust design approach to realize disturbance attenuation for a yaw -pitch gimballed system subject to actuator saturation and disturbances. Design/methodology/approach -To minimize the impacts of disturbances in the presence of saturation nonlinearity and acquire desired response performance, the control approach is of double closed-loop configuration. State feedback controllers are synthesized via convex optimization and used to stabilize the inner loops; robust controllers are synthesized via mixed H ϱ optimization and used to stabilize the outer loops. Findings -It is shown through performance simulations that the proposed control scheme is effective in terms of command following, stability and disturbance attenuation. Practical implications -The presented robust control approach provides a theoretical method to facilitate designing a stable servo control loop for a yaw -pitch gimballed seeker. Originality/value -This paper supplies an effective way of addressing stabilization problem induced from actuator saturation and system uncertainties.
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