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General information |
| Author |
Wu, Minghui; Pan, Gen; Zhang, Tao; Chen, Shanben; Zhuang, Fu; Yanzheng, Zhao |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Wall‐climbing welding robots (WCWRs) can
replace workers in manufacturing and maintaining
large unstructured equipment, such as ships. The
adhesion mechanism is the key component of WCWRs.
As it is directly related to the robot’s ability in relation
to adsorbing, moving flexibly and obstacle‐passing. In
this paper, a novel non‐contact adjustably magnetic
adhesion mechanism is proposed. The magnet suckers
are mounted under the robot’s axils and the sucker and
wall are in non‐contact. In order to pass obstacles, the
sucker and the wheel unit can be pulled up and pushed
down by a lifting mechanism. The magnetic adhesion
force can be adjusted by changing the height of the
gap between the sucker and the wall by the lifting
mechanism. In order to increase the adhesion force,
the value of the sucker’s magnetic energy density
(MED) is maximized by optimizing the magnet sucker’s
structure parameters with a finite element method.
Experiments prove that the magnetic adhesion
mechanism has enough adhesion force and that the
WCWR can complete wall‐climbing work within a large
unstructured environment. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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