Electromagnetic worm-like locomotion system for in-pipe robots: Design and vibration-driven motion analysis

Sattarov, Robert R.; Almaev, Marsel A.

doi:10.1109/dynamics.2017.8239501

Cited by 6 publications

(2 citation statements)

References 20 publications

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“…Some studies [31] deal with the classification of WCR types and how they might be used to make better applications. WCRs are cautious of curvatures and gaps, so identification and detection play a key role in making WCRs work effectively [32], and all of this is listed and discussed [33], as well as the evolution of crawling and climbing robots like gecko, inch worm, and others that take inspiration from biological systems [38,47,48,50,54], and Pipeline climbing robots [42,55] use worm-like locomotion to provide high locomotion and help the robot stick to the wall [39], magnetic adhesion will be the strongest force attraction even in water, and Omni-directional robots use advanced propeller mechanisms to provide high locomotion and help the robot stick to the wall [39]. The use of both types of magnets in combination is likewise regarded as an innovative technique [44].…”

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

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“…A key component in vibration-driven robots is friction; mainly due to the fact that oscillation in a frictionless environment does not result in a positive displacement and only constitutes to oscillation around the equilibrium. The propulsion force in vibration robots may be provided by unbalanced masses (Zimmermann et al, 2009), piezoelectric (Saadabad et al, 2019), air pressure (Kim et al, 2019), and electromagnetic force (Sattarov and Almaev, 2017). Furthermore, the number of modules and the dimension of motion may vary in vibration robots.…”

Section: Introductionmentioning

confidence: 99%

Optimization and control of an energy-efficient vibration-driven robot

Amiri,

Sohrabi,

Eftekharian

et al. 2023

Journal of Vibration and Control

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Vibration-driven robots are innovative mechanical systems that exhibit a wide range of capabilities and applications due to their simple propellers. The applications of these robots span from clearing debris after an incident, traversing pipelines for inspection and maintenance, or medical purposes. In this paper, optimization and motion control of an energy-efficient two-module vibration-driven robot are investigated. The robot contains two blocks connected by a spring as its main body, and an unbalanced rotating mass to drive the robot rectilinearly. At first, the governing dynamic equations of the robot are derived and solved using MATLAB/Simulink. Then, the dynamic model of the robot is verified by comparing the obtained results with the simulation results from MSC Adams. Subsequently, a parametric study is conducted to investigate the effect of various physical parameters of the robot on its average velocity and consumed energy. Afterward, optimization variables are determined and a proper objective function is considered. By performing an optimization process using a genetic algorithm (NSGA-II), optimal parameters of the robot are obtained. Moreover, for motion control of the optimized robot, two control schemes, PID and Fractional Order PID, are designed. To evaluate and compare the performance of the proposed controllers, parameters of both controllers are optimized using a genetic algorithm in which both tracking error and control input are minimized, simultaneously. Finally, tracking error and control effort of the mentioned controllers for motion control of the robot are compared and discussed.

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Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design

Sattarov

Huang

Chen

et al. 2020

Proceedings of 15th International Conference on Electromechanics and Robotics "Zavalishin's Readings"

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Electromagnetic worm-like locomotion system for in-pipe robots: Design and vibration-driven motion analysis

Cited by 6 publications

References 20 publications

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

Optimization and control of an energy-efficient vibration-driven robot

Worm-Like Locomotion Systems for In-Pipe Robots and Its Fuzzy Sliding Mode Controller Design

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