A novel design of permanent magnet wheel with induction pin for mobile robot

Abstract

Robots are utilized to automate works on a vertical plane of a large structure such as a ship and permanent magnet wheels have been utilized to make possible the robots to be attached to vertical plane and be in motion. In this paper, we propose a new design of the permanent magnet wheel for mobile robots to improve the adhesive force and facilitate the detachment of the wheel. In newly suggested design, the magnetic flux enhances the adhesive force during the attachment while induction pins redirect magnetic flux in order to achieve an easier detachment. To characterize the performance, finite element analysis is executed and experiment apparatus is constructed. The results show that the adhesive force is reduced effectively by using induction pins.

Design of a climbing robot platform with protection device

“…Assuming ¼ 1 and a _ y þ by ¼ K 2 ðx À yÞ, the coefficient values can be calculated by equation (16) according to equations (11) and (15).…”

“…10 Unlike other robotic systems, the gravitational effect is so dominant that different approaches are required for the robot system to operate on the façade. 1 To overcome the gravitational effects, several studies have been conducted using various methods such as magnetic adsorption, 3,9,10,[11][12][13][14][15][16] biomimetic adsorption, 17,18 gripping type, 19 rail-guided type, 20 negative pressure adsorption, 21,22 and so on. Grieco et al developed a six-legged climbing robot prototype able to climb on ferromagnetic walls carrying high payloads available for inspection, maintenance, and intervention tasks in industrial environments.…”

A survey of climbing robots: Locomotion and adhesion

“…24,51,59,61,62,[65][66][67]72,73,78,80,86,112 However, since a magnetic adhesion mechanism does not require time to generate a sufficient adhesive force, unlike suction-based adhesion, it enables fast locomotion. Especially, magnetic adhesion using permanent magnets has another advantage in that there is no need to spend energy for the adhesion process.…”

Design and Experimental Implementation of Easily Detachable Permanent Magnet Reluctance Wheel for Wall-Climbing Mobile Robot

“…Among the devices developed for mobile robots, the most advanced one is the permanent magnet wheel introduced by S.C. Han et al [6]. In the suggested permanent magnet wheel assembly, the residual magnetic field of the permanent magnet creates the adhesive force during attachment while the inducing metal pins change the magnetic flow and weaken the adhesive force during detachment.…”