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walls with suction pads and carry an ultrasonic NDT tool for
inspection of the large surface of industrial utilities. In [18],
the author presents a novel application of the Stewart-Gough
parallel platform as a climbing robot and its kinematics
control to climb through long structures describing unknown
spatial trajectories, such as palm trunks, tubes, etc. In [19], the
ROMA robot, a specially developed self-supported robot is
built, which is designed to perform 3D complex movements
and to navigate through metallic structures using “caterpillar”
concept. The adhesion mechanism and architecture of a wall
climbing robot are depended on its workspace. Our proposed
wall climbing robot is to carry NDT tools for inspecting the
oil tanks. We choose permanent magnetic adhesion
mechanism and tracked locomotion mechanism, due to high
reliability, simple control, running at a high speed, etc. As a
wall climbing robot with permanent magnetic adhesion
mechanism, the magnetic system is of importance, because it
will provide reliable absorption and safety.
The paper is organized as follows. Section 2 gives a brief
background and related research. Section 3 details the analysis
of static and dynamic force about the wall climbing robot. The
design of the magnetic system is discussed in Section 4.
Applications of the magnetic system and experiments are
given in Section 5. The paper is concluded in Section 6.
According to the requirements for the wall climbing
robot, the proposed wall climbing robot adopts permanent
magnetic adhesion, tracked locomotion [20]. The mechanical
architecture of the proposed wall climbing robot is shown in
Fig.1. It includes the frame of the body, the servo motors and
transmission system, the tracked locomotion system, the
permanent magnetic adhesion system, and the anti-toppling
system. Each track is comprised of a roller chain, two
sprockets, and some evenly arranged permanent magnetic unit.
When the robot moves, there are always a certain number of
units in good contact with the surface which enable the robot
to reliably stay on it. The servo motors and the transmission
system provide driving power for the roller chain. The anti-
toppling system ensures the robot to safely move on the
surface up to 10mm fluctuation. This paper will detail the
design of magnetic circuit system. The static and dynamic analysis of the wall climbing
robot with permanent magnetic tracked locomotion
mechanism is important to derive the requirements of the
magnetic adhesion mechanism.
A. Static Force Analysis
If a wall climbing robot can safely move in a flat surface,
it needs to fulfill some force constraints. The force analysis
includes static and dynamic parts as follows.
When the robot keeps staying on the vertical surface, it
bears such forces as the gravity, the adhesion force between
the permanent magnetic units, the supporting force of the
surface, and the friction between the tracks and the surface,
which can be denoted as G, Fmi, Ni, and Ff, respectively.
There are 3 cases for the static force analysis when the
robot maintains the static status on the vertical wall.
摘要:目前主要设计爬壁机器人的永磁性系统以及其永磁爬壁轨道.一个关于永磁性爬壁机器人的吸附力装置的检查要检查其油箱的建议被提了出来.以及设计该装置的设计师.这个永磁性吸附装置及其轨道运动装置服务于这个机器人系统.关于机器人静态的动态的力分析还有其设计参数都从其粘着装置中得出来.有两种关于永磁单位的物质构造被提出来.关于这两种物质构造的分析也是很详细的.最后,准备设计两种有着不同磁性系统的实验做了出来.7201