Magnetic–type Climbing Wheeled Mobile Robot for Engineering Education

Abstract

The tendency of developing wheeled mobile robots in different applications is growing every day. During the past decades, the need for robots capable for climbing vertical wall has been increased. As a result of that, this paper presents a light and low cost wall climbing robot WCR of wheeled locomotion and adopted neodymium magnets to provide adhesion force. This climbing system is intended to be used for educational and research purposes. The mechanical and electrical constructions are presented. The proposed design has the ability to achieve ground-wall transitioning. In order to provide sufficient information about robot mass properties, novel mechanisms to determine the coordinates of the center of mass COM and moment of inertia MOI of the proposed climbing robot have been introduced. In addition, the vision system was suggested to provide feedback signal of robot pose (position and orienting). Finally, to evaluate the performance of the robot design, a prototype was built and tested in the laboratory environment.

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

“…The history of the development of land vehicles has imprinted on the structures of magnetic transport devices moving on surfaces, the location planes of which deviate significantly from the horizontal. In modern conditions, magnetic transport devices with caterpillar [12][13] and wheeled [14][15] propulsion are most often used.…”

Magnetic Adhesion in Wall Climbing Robots using varied Electromagnet Arrangements

“…The WCR must work with ease irrespective of the surface, be it rough or smooth, metal or non-metal etc. [1][2][3]. The robot is supposed to apply the correct amount of adhesive force towards the wall, in order to maintain stability and be maneuvered effectively over the surface.…”