Curvature Surface Magnetic Wheel Climbing Robot with Adaptive Electromagnetic Adhesive Force
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- Palangwatanakul Richit
- Faculty of Engineering, Mahasarakham University
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- Thungsang Apisit
- Faculty of Engineering, Mahasarakham University
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- Thungod Kaned
- Faculty of Engineering, Mahasarakham University
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- Boonyaprapasorn Arsit
- Dept. of Mechanical Engineering, Chulachomklao Royal Military Academy
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- Borisut Wanachart
- Dept. of Mechanical Engineering, Chulachomklao Royal Military Academy
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- Maneewarn Thavida
- Institute of Field Robotics, King Mongkut’s University of Technology Thonburi
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- Natsupakpong Suriya
- Institute of Field Robotics, King Mongkut’s University of Technology Thonburi
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- Sethaput Thunyaseth
- Dept. of Mechanical Engineering, Sirindhorn International Institute of Technology
説明
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.
収録刊行物
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- 人工生命とロボットに関する国際会議予稿集
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人工生命とロボットに関する国際会議予稿集 25 461-465, 2020-01-13
株式会社ALife Robotics
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詳細情報 詳細情報について
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- CRID
- 1390002184876631808
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- ISSN
- 21887829
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- 本文言語コード
- en
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- データソース種別
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- JaLC
- Crossref
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- 抄録ライセンスフラグ
- 使用不可