Investigations on the Effect of Wall Thickness on Magnetic Adhesion for Wall Climbing Robots

Jose, Jaise; Devaraj, Dinakaran; Mathanagopal, Ramya Manthanam; Ramanathan, Kuppan Chetty; Tokhi, M. O.; Sattar, TP

doi:10.2316/j.2021.206-0441

Cited by 6 publications

(3 citation statements)

References 13 publications

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“…This comes under the category of low carbon steel and these are widely used in industries. It is seen from studies [18] [24] that surface thickness has a significant impact on magnetic adhesion, and magnetic adhesion increases as surface thickness increases. So, in this simulation, the pipeline surface thickness is maintained to a minimum so that we may determine the maximum magnet adhesion force generated by the magnet for an extremely low surface thickness.…”

Section: Ferromagnetic Surfacementioning

confidence: 99%

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An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Elankavi¹,

Dinakaran²,

Chetty³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

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The magnetic adhesion of ring magnets classified under permanent magnets, which are employed in magnetic wheels for In-Pipe and Out-Pipe robots, is investigated in this paper. The study is carried out using FEMM software for ring magnets by changing their inner diameter and thickness against a minimum pipeline thickness. The results show that the adhesion force increases as the magnet thickness increases and reduces as the magnet's inner diameter increases. When it comes to inner and outer pipelines, the positioning of ring magnets is also a challenge. This is demonstrated using solidworks software by modelling a ring magnet and laying it over the inner and outer pipelines. Ring magnets of various thicknesses were found to be necessary for diverse pipeline diameters. So based on FEMM simulation and visualization from solidworks the optimal thickness and inner diameter for the ring magnet are derived. The simulation results help researchers choose the optimal ring magnet for the magnetic wheel for both In-Pipe and Out-Pipe robots.

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Section: Ferromagnetic Surfacementioning

confidence: 99%

“…The adhesion systems used for climbing vertical pipes are divided into five types [6], [7]. It consists of biometric [8]- [11], vacuum suction [12], rail-guided [13]- [15], gripping [16], [17] and magnetic adhesion [18].…”

Section: Introductionmentioning

confidence: 99%

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Elankavi¹,

Dinakaran²,

Chetty³

et al. 2022

Robotics, Automation and Non-Destructive Evaluation

View full text Add to dashboard Cite

show abstract

“…The introduction of magnetic transport devices is hampered by insufficient information about their design and application in the system of maintenance and repair of engineering systems. The studies carried out in this area [5,[16][17][18][19][20][21][22][23][24] do not fully consecrate all the features of the movement of magnetic transport devices on ferromagnetic surfaces of different orientation and configuration.…”

Section: Introductionmentioning

confidence: 99%

Investigation of the conditions of movement of magnetic transport devices on ferromagnetic surfaces of various orientations

Koryagin,

Sharkov,

Velikanov

2024

E3S Web Conf.

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Every year, more and more enterprises are automated, robotic facilities are produced in tens of thousands. A special niche is occupied by transport devices moving along curved surfaces. Sheathing of ships’ hulls, tanks, towers, gas storage facilities, and similar metal structures is convenient to maintain during operation and repair with magnetic transport devices. The computational schemes and mathematical models of transport devices of magnetic type with wheel propulsors on ferromagnetic surfaces are presented in this paper. Geometric and force parameters affecting movements on horizontal, inclined, and vertical surfaces were investigated. The gravity of the transport device, the reaction of the processing equipment, the traction between the drive wheels of the bogie and the ferromagnetic surface, the normal reaction of the ferromagnetic surface to the drive wheels, the attraction developed by the electromagnet were taken into account. The results obtained will contribute to the introduction of mathematical modeling methods into the practice of designing magnetic transport devices moving on ferromagnetic surfaces.

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A Comparative Study of Adhesion Mechanism for Wall Climbing Robots: Ring Magnet vs. Block Magnets

Jose

Elankavi

Dinakaran

et al. 2021

IOP Conf. Ser.: Mater. Sci. Eng.

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Magnetic adhesion is widely used in wall climbing robots on ferromagnetic surfaces. The Ring and block Neodymium magnets provide the necessary adhesion in permanent magnet-based climbing robots. In this article, the effectiveness of ring and block magnets are analysed using FEMM. for various magnet configurations. The adhesion force generated by ring and block magnets of a similar volume is compared and analysed. The results showed that the adhesion of ring magnets increases with the thickness of magnets. The maximum adhesion achieved in various ring magnets was compared with the adhesion generated by the arrangement of block magnets for two standoff distances and it was found that the adhesion generated by the block magnets were better in both cases. The ring magnets have constant standoff distance as per the rubber coating used and this enables them to operate seamlessly on irregular surfaces while the block magnet configurations provide excellent payload capabilities. In summary, numerical simulation results provided an understanding of the areas where the ring magnets can be used and the areas where the block magnets serve the purpose better.

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Investigations on the Effect of Wall Thickness on Magnetic Adhesion for Wall Climbing Robots

Cited by 6 publications

References 13 publications

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

An investigation on magnetic characteristics of ring magnet for wheeled in-pipe and out-pipe robots

Investigation of the conditions of movement of magnetic transport devices on ferromagnetic surfaces of various orientations

A Comparative Study of Adhesion Mechanism for Wall Climbing Robots: Ring Magnet vs. Block Magnets

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