Experimental investigations on permanent magnet based wheel mechanism for safe navigation of climbing robot

Bisht, Ravindra Singh; Pathak, Pushparaj Mani; Panigrahi, Soraj Kumar

doi:10.1016/j.procs.2018.07.046

Cited by 8 publications

(6 citation statements)

References 14 publications

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“…The adhesion force of the robot for holding it on the vertical/inclined surface is achieved by the developed multi-layer magnetic wheel mechanism and an additional pair of electromagnets. The detailed design parameters, simulations, and experiments on various types of magnetic wheel mechanisms were presented in the authors' previous work [25,26]. The wheel adhesion and friction force analysis, coefficient of friction (static and kinetic), have also been evaluated in a more detailed way.…”

Section: Robot Design and Mechanismsmentioning

confidence: 99%

“…Before switching the locomotion modes (wheel to arm or vice versa), the axial movement of the lead screw pair should be greater than the magnetic wheel air gap (δ d > δ a ). Experimental studies [25] indicate that the magnetic force completely disappears when the air gap (δ a ) becomes more than 10 mm, and accordingly, the parameter (δ d ) has been considered. A DC geared motor used in the switching mechanism with minimum stall torque of 3.5 nm has been considered from the design analysis to attach/detach the magnetic wheels.…”

Section: Robot Design and Mechanismsmentioning

confidence: 99%

“…( 15), the traction force F sf = f F a , F g , ϕ, μ, sign θr1 , θl1 required for robot locomotion is a function of adhesion force, robot weight, wall inclination, surface friction, and direction of robot locomotion. An average value of the coefficient of friction μ = 0.4 has been considered in the trajectory tracking and path planning simulation [25].…”

Section: Dynamic Modelmentioning

confidence: 99%

“…It is a reliable mechanism compared to other conventional mechanisms such as pneumatic suction [23], electromagnets [24], electrostatic [10], and bio-inspired [9] based adhesion mechanisms. The robot design solely based on single locomotion such as wheel-driven [25,26], track-wheel [27], multi-legged [28], etc. may restrict its application for efficient coverage in complex wall situations.…”

Section: Introductionmentioning

confidence: 99%

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Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

2022

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This article presents modelling, simulation, and development of a wall-climbing robot based on coupled wheel and arm-type locomotion mechanism. The developed robot consists of two mobile modules connected with a robot arm mechanism. The actuation of the robot arm is inspired by inchworm locomotion, particularly during wall-to-wall transition, obstacle avoidance, and uneven surface locomotion. Easiness in the interchanging of wheel to arm and vice versa makes the robot more effective compared to previously developed wall-climbing robots. The kinematic and dynamic model for the proposed coupled wheel and arm locomotion concept has been established. A combination of particle swarm optimization (PSO) and proportional, integral, derivatives (PID) feedback control algorithm has been developed using MATLAB to simulate the different cases of robot motions. The developed prototype of the wall-climbing robot is used to verify the coupled wheel and arm locomotion concept in various wall climbing scenarios. The simulation and experimental findings show good comparisons and validate the model-based design of the wall-climbing robot.

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Section: Robot Design and Mechanismsmentioning

confidence: 99%

Section: Robot Design and Mechanismsmentioning

confidence: 99%

Section: Dynamic Modelmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

2022

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“…Its function is in the hardware of the CAN controller. At the same time, the software sets CAN parameters (working mode, baud rate, filter), sends message requests, processes message reception, manages interruptions, and obtains diagnostic information through registers such as status, control, and configuration [14].…”

Section: Communication Modulementioning

confidence: 99%

Application of Cable Climbing Robot Automation Control Technology in Bridge Cable Measuring System

Zhou

Bao²,

Liu³

et al. 2022

Wireless Communications and Mobile Computing

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According to the traditional bridge cable measurement system, the accuracy of the bridge cable measurement is low, and the measurement time is long. Based on the automatic control technology of the climbing robot, a new bridge cable measurement system is designed. We design system hardware through CIS drive circuit, main controller, and communication module; design system software on the basis of hardware design; obtain the motion control equation of orthogonal joint cable climbing robot through DH transformation; and apply this equation to the bridge cable measurement system. The bridge cable measurement model is constructed, and the bridge cable measurement system design is completed through the system hardware design and software design. The simulation results show that the designed system has higher accuracy in measuring bridge cables and shorter measuring time.

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A comprehensive review on deploying robotics application in telecom network tower's field maintenance: Challenges with current practices and feasibility analysis for robotics implementation

Shah

Dave

2023

Journal of Field Robotics

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This survey article highlights the difficulties in the field maintenance of telecommunication towers. It critically analyses the main features of the deployment of robots to maintain telecommunication towers. The growing demand for mobile connectivity poses the need for more towers, and the subsequent problem of network maintenance becomes more critical. Most tower maintenance is required work at height; therefore, height‐related risks are more frequent. A rigorous review is conducted, and the growth of the telecommunications network and key on‐site maintenance challenges are analyzed. Despite numerous challenges, these towers are maintained manually by riggers (certified climbers) worldwide. It raises the question, Is it possible to implement automation by robots for the maintenance of telecommunications towers? The feasibility analysis to deploy the robots is conducted systematically. To access the tower through a robot, detailed information on the type of towers, the climbing arrangements available on the existing towers, and the necessary operations to be carried out at the height is collected. A critical analysis of the climbing robots currently available in the literature, their grasping technology, and control algorithms is performed. The opinion of experts in the telecommunication industry is very helpful in identifying the requirements of robotic systems. The design attributes especially needed for the climbing robot, and the execution of the maintenance in height are highlighted. Due justification is given for deploying robots for field maintenance of telecom towers. The recommended methodology for designing an automation system helps research in the field of maintenance of telecom towers through robots, which could bring a remarkable solution to the telecom sector.

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Experimental investigations on permanent magnet based wheel mechanism for safe navigation of climbing robot

Cited by 8 publications

References 14 publications

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Modelling, simulation and experimental validation of wheel and arm locomotion based wall-climbing robot

Application of Cable Climbing Robot Automation Control Technology in Bridge Cable Measuring System

A comprehensive review on deploying robotics application in telecom network tower's field maintenance: Challenges with current practices and feasibility analysis for robotics implementation

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