A Novel Style Design of a Permanent-Magnetic Adsorption Mechanism for a Wall-Climbing Robot

Fan, Jizhuang; Xu, Tian; Fang, Qianqian; Zhao, Jie; Zhu, Yanhe

doi:10.1115/1.4045655

Cited by 26 publications

(13 citation statements)

References 15 publications

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“…When the robot is in a static equilibrium state, the frictional force F fi should always be less than the normal force F Ni multiplied by the static coefficient of friction m s , as in equation (10). The relation between the wheels torques and the frictional forces are given in equation (11). Note that, when the robot moves on the wall, it receives rolling friction because the wheels are not driven.…”

Section: Robot Static Analysismentioning

confidence: 99%

“…However, it can only be used on the wall of magnetically conductive materials. [8][9][10][11] The bionic adhesion wall climbing robot is mainly used in the case of bonding bionic materials and hooking imitating animal hooks. [12][13][14][15][16] In fact, the bionic materials research cost is high, the adhesive material cannot be cleaned by itself, and it is easy to desorb during use.…”

Section: Introductionmentioning

confidence: 99%

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Analysis and experimental research on motion stability of wall-climbing robot with double propellers

Liang

Gao

Zhang

et al. 2021

Advances in Mechanical Engineering

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This paper presents a wall-climbing robot which can stably hold and move on the ground-wall surface. The robot uses propeller reverse thrust as an adsorption force and can adapt to the surface of several media materials. The influence of the robot’s structural parameters on its power system is analyzed by comparing a single power system test and a robot prototype power test. A structural analysis of the robot is performed under two specific situations; when he is in transition from the ground to a small slope, and when he is on the slope. The force state of the robot is then obtained in different conditions. Experimental results show that the adjustment range of different rotor inclination angles of the robot, the width of the fixed rotor plate and the different near-ground distances, affect the traction of the robot. The robot motion performance and adaptability under different ground/wall environments are analyzed, by conducting the robot climbing experiment under a small slope, a vertical wooden wall surface and a vertical indoor wall surface. Stable adsorption and optimization tests are also performed. Moreover, the stability of the robot’s motion is verified. Finally, a theoretical and experimental accumulation is laid for the realization of the smooth transition of the robot from the ground to the wall.

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Section: Robot Static Analysismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Analysis and experimental research on motion stability of wall-climbing robot with double propellers

Liang

Gao

Zhang

et al. 2021

Advances in Mechanical Engineering

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“…Various adhesion and locomotion principles have been used to build numerous robotic climbers, which can be classified as a) vacuum suction tubes [5,6], b) pneumatic, c) grasping grippers [40], and d) magnetic adhesion [4][5][6][7][8][9][10][11][12].…”

Section: Introductionmentioning

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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“…For the locomotion types, arms and legs [1] are good at overcoming obstacles but have drawbacks in velocity, wheels and chains [2] have advantages in continuous and fast movement but cannot handle large obstacles, sliding frames [3] are simple in both structure and control but move slowly compared with wheels and chains, and wires and rails [4] are safe and carry a considerable payload weight but demand external guidance and equipment. For the adhesion types, magnetic adhesion [5] has a strong adhesion force but demands a ferromagnetic wall, passive suction cups [6] have lower energy consumption, while active suction chambers [7][8][9] have stable adhesion, mechanical adhesion [10][11][12] has low energy consumption and is stable but usually requires unique construction or materials on the wall surface, and chemical adhesion [13] has low energy consumption when the robot is not moving but is highly influenced by wall material.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of an Omnidirectional Mobile Wall-Climbing Robot

Zhong

Xiao

et al. 2021

Applied Sciences

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Omnidirectional mobile wall-climbing robots have better motion performance than traditional wall-climbing robots. However, there are still challenges in designing and controlling omnidirectional mobile wall-climbing robots, which can attach to non-ferromagnetic surfaces. In this paper, we design a novel wall-climbing robot, establish the robot’s dynamics model, and propose a nonlinear model predictive control (NMPC)-based trajectory tracking control algorithm. Compared against state-of-the-art, the contribution is threefold: First, the combination of three-wheeled omnidirectional locomotion and non-contact negative pressure air chamber adhesion achieves omnidirectional locomotion on non-ferromagnetic vertical surfaces. Second, the critical slip state has been employed as an acceleration constraint condition, which could improve the maximum linear acceleration and the angular acceleration by 164.71% and 22.07% on average, respectively. Last, an NMPC-based trajectory tracking control algorithm is proposed. According to the simulation experiment results, the tracking accuracy is higher than the traditional PID controller.

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A Novel Style Design of a Permanent-Magnetic Adsorption Mechanism for a Wall-Climbing Robot

Cited by 26 publications

References 15 publications

Analysis and experimental research on motion stability of wall-climbing robot with double propellers

Analysis and experimental research on motion stability of wall-climbing robot with double propellers

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Design and Control of an Omnidirectional Mobile Wall-Climbing Robot

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