TY - GEN
T1 - Wheeled Magnetic Adsorption Wall Climbing Robot Based on Damped Shaft Design
AU - Chen, Youli
AU - Wang, Peichen
AU - Li, Yunzhou
AU - Wei, Jin
AU - Yao, Xing
AU - Zhang, Peng
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - With the widespread use of steel structures, the need for regular inspection and surface cleaning of steel structures is increasing. Robots can solve the problem of the risk of working at heights in traditional manual inspection but currently suffer from a lack of flexibility and load capacity. Therefore, in this paper, a wheeled magnetic adsorption wall-climbing robot based on a damped pivot system is proposed to provide power and adhesion force through a high reduction ratio hybrid drive mechanism and strong magnetic wheels. Experimental results show that the robot can move freely on the outer surface of a pipe with a diameter of at least 70 mm, easily overcome obstacles of up to 6 mm, and support loads of up to 10 kg, which significantly improves the flexibility and load capacity of the robot.
AB - With the widespread use of steel structures, the need for regular inspection and surface cleaning of steel structures is increasing. Robots can solve the problem of the risk of working at heights in traditional manual inspection but currently suffer from a lack of flexibility and load capacity. Therefore, in this paper, a wheeled magnetic adsorption wall-climbing robot based on a damped pivot system is proposed to provide power and adhesion force through a high reduction ratio hybrid drive mechanism and strong magnetic wheels. Experimental results show that the robot can move freely on the outer surface of a pipe with a diameter of at least 70 mm, easily overcome obstacles of up to 6 mm, and support loads of up to 10 kg, which significantly improves the flexibility and load capacity of the robot.
KW - climbing robot
KW - magnetically adsorbed wheels
KW - motion Testing
KW - obstacle-crossing capability
UR - https://www.scopus.com/pages/publications/85199856939
U2 - 10.1109/ICCRE61448.2024.10589751
DO - 10.1109/ICCRE61448.2024.10589751
M3 - 会议稿件
AN - SCOPUS:85199856939
T3 - 2024 9th International Conference on Control and Robotics Engineering, ICCRE 2024
SP - 92
EP - 97
BT - 2024 9th International Conference on Control and Robotics Engineering, ICCRE 2024
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 9th International Conference on Control and Robotics Engineering, ICCRE 2024
Y2 - 10 May 2024 through 12 May 2024
ER -