Consideration of Method for Traveling through a Flange Path in terms of Magnetic-wheeled Bridge Inspection Robot with High Loading Capacity

Kobayashi, Shunsuke; Nakajima, Keita; Shiba, Takehiro; Song, Hyunwoo; Takada, Yogo

doi:10.1299/jsmermd.2021.2a1-l04

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2024

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“…Even if the robots attempt to move from the bottom to the top of the flanges, the anti-torque and gravity push the robot down, as shown in Figure 1. Therefore, it is difficult to run through the flanges [27].…”

Section: Introductionmentioning

confidence: 99%

Necessary Conditions for Running through a Flange by Using Planetary-Geared Magnetic Wheels

Tanida,

Ono,

Shiba

et al. 2024

Robotics

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To discuss and consider the necessary conditions for magnetic-wheeled robots with planetary-geared magnetic wheels, this paper provides comparing static calculations about three orientations in running a flange with real experiments. SCPREM-I, a magnetic-wheeled robot, was developed for running through a flange from the bottom to the top. This robot has four magnetic wheels with a built-in planetary gearset. In experiments, however, the robot sometimes fails to run through a flange in three orientations. In this study, we statically analyze SCPREM-I to find the conditions necessary for running through the flange. We calculate the forces around the front and rear wheels in the three orientations. As a result, it has been found that the chassis of the SCPREM-I applies a forward force to the wheels when it runs through the flange. In addition, it has been found that the normal force of the A-Legs is balancing with the driving force of the wheels when the SCPREM-I fails to run through the flange.

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Section: Introductionmentioning

confidence: 99%