A Comparative Study of Adhesion Mechanism for Wall Climbing Robots: Ring Magnet vs. Block Magnets

Jose, Jaise; Elankavi, Rajendran Sugin; Dinakaran, D.; Chetty, Raghuram; Ramya, M. M.

doi:10.1088/1757-899x/1145/1/012063

Cited by 3 publications

(2 citation statements)

References 11 publications

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“…Neodymium magnets [28], as well as their effectiveness, are investigated, and the process is continued with the optimization of the distance between magnets and the magnetic wall [29,30]. Some studies [31] deal with the classification of WCR types and how they might be used to make better applications.…”

Section: Other Magnet Arrangements Of Ring and Blockmentioning

confidence: 99%

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Poovathy

Sathish

Paramanandham

et al. 2022

Journal of Robotics and Control

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The improvements and innovations in the field of robotics have given a great opportunity to perform tasks that are hazardous for humans to perform. For example, robots can be used for working on high-storied buildings, inspection on ferromagnetic surfaces, painting and maintenance of buildings, surveillance purposes, etc., at the outset, to carry out any operation on vertical surfaces, which may be quite hazardous and time-consuming as well, wall climbing robots (WCRs) can be deployed. The method of adhesion determines the stability of the robot on the wall, be it smooth or coarse. Using magnets to bring about magnetic adhesion would be advantageous when the robot is maneuvered over iron or steel surfaces, typically, to clean boilers, etc., This paper presents the different ways of placements of the magnets, both permanent and electromagnets, in order to introduce adequate magnetic adhesion that would cease the robot from toppling down while encountering an obstacle. This work proposes two methods of arrangement of magnets: square and diamond. Four electromagnets when arranged in array formation with 5000 windings of thin copper coil, generated a magnetic field force of approximately 150 N when 50 A of current is passed. By and large, around 35 N to 40 N is the suction force that would be sufficient to stick the WCR of 2kg on the wall, while using a suction chamber instead of electromagnets. Other methods of placing the magnets such as square and diamond are studied and compared as well using FEMM. Hence arranging the 4 electromagnets in array formation gives an adhesion pressure sufficient to hold and move the WCR, over the vertical wall against gravity.

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Section: Other Magnet Arrangements Of Ring and Blockmentioning

confidence: 99%

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Poovathy

Sathish

Paramanandham

et al. 2022

Journal of Robotics and Control

View full text Add to dashboard Cite

show abstract

“…The magnetic adhesion provides high payload capability, safer even during power failure with zero power consumption. The wheeled magnetic adhesion is best suited since magnets attached to the robot causes stress on its body [23].…”

Section: Introductionmentioning

confidence: 99%

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Elankavi¹,

Dinakaran²,

Chetty³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

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The magnetic adhesion of ring magnets classified under permanent magnets, which are employed in magnetic wheels for In-Pipe and Out-Pipe robots, is investigated in this paper. The study is carried out using FEMM software for ring magnets by changing their inner diameter and thickness against a minimum pipeline thickness. The results show that the adhesion force increases as the magnet thickness increases and reduces as the magnet's inner diameter increases. When it comes to inner and outer pipelines, the positioning of ring magnets is also a challenge. This is demonstrated using solidworks software by modelling a ring magnet and laying it over the inner and outer pipelines. Ring magnets of various thicknesses were found to be necessary for diverse pipeline diameters. So based on FEMM simulation and visualization from solidworks the optimal thickness and inner diameter for the ring magnet are derived. The simulation results help researchers choose the optimal ring magnet for the magnetic wheel for both In-Pipe and Out-Pipe robots.

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Structure Design and Analysis of a Wall-Climbing Robot for Removing Stains on the Side Shell Plate

Chen,

Wang,

Liu

et al. 2023

2023 9th International Conference on Fluid Power and Mechatronics (FPM)

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A Comparative Study of Adhesion Mechanism for Wall Climbing Robots: Ring Magnet vs. Block Magnets

Cited by 3 publications

References 11 publications

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Structure Design and Analysis of a Wall-Climbing Robot for Removing Stains on the Side Shell Plate

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