| Title: | GS4-4 Curvature Surface Magnetic Wheel Climbing Robot with Adaptive Electromagnetic Adhesive Force |
|---|---|
| Publication: | ICAROB2020 |
| Volume: | 25 |
| Pages: | 461-465 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2020.GS4-4 |
| Author(s): | Richit Palangwatanakul, Apisit Thungsang, Kaned Thungod, Arsit Boonyaprapasorn, Wanachart Borisut, Thavida Maneewarn, Suriya Natsupakpong, Thunyaseth Sethaput |
| Publication Date: | January 13, 2020 |
| Keywords: | Climbing robot, Magnetic wheel, Locomotion design, Adaptive electromagnetic, adhesive system |
| Abstract: | Various industrial structures or machines mostly consist of different shapes of ferromagnetic curvature surfaces. The magnetic wheel climbing robot is the suitable approach for achieving both adhesion and locomotion of the inspection robot. However, the adjustable magnetic force for robot adhesion is necessary, especially when the thickness of the surface is not uniform or the variation of the air gap between the magnetic adhesion units caused by the curvature of the surface. This can lead to the insufficient adhesive force. Furthermore, unnecessary driving torque of the motor to actuate the climbing robot from the over design of the magnetic adhesive force from the magnetic wheels can be avoided. Due to the level of the adaptive adhesive force is necessary to be considered, we designed the adaptive electromagnetic adhesive force mechanism for the curvature surface climbing robot with magnetic wheels. The PID controller was employed to control the electromagnetic force, and the adhesive force was measured by a load cell. This measurement signal was used as a feedback signal. In the paper, we investigated the capability of this adjustable magnetic force system. Five aspects of experimentation were implemented. It was clear that the light weight electromagnetic force adjustment mechanism could provide the flexibility to regulate the adhesive force for the magnetic robot while traveling on the ferromagnetic curvature surface. |
| PDF File: | https://alife-robotics.co.jp/members2020/icarob/data/html/data/GS/GS4/GS4-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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