Abstract
Magnetic adhesion is the most common mechanism employed in Mobile Robots (MRs) used for inspection tasks in ferromagnetic structures. Both Permanent Magnets (PM) and Electro-Magnets (EM) present inherent constraints: constant magnetic force, PMs; or a continuous electric power supply, EMs. These constraints impact significantly on the performance of the MR when it comes to manoeuvring in complex structures. However, this paper presents a novel approach by implementing Electro-Permanent Magnet (EPM) technology. A single short electric pulse is enough to switch On and Off the adhesion force, and by controlling its amplitude the magnetic force can be driven to a desired value, enabling the continuously varying of the magnetic adhesive force. A simple wheel design is proposed and a set of simulations and related experiments performed.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Elliott, M., Morris, W., Calle, A., Xiao, J.: City-Climbers at work. In: Proc. 2007 IEEE Int. Conf. Robot. Autom, pp. 2764–2765. IEEE (2007)
Santos, D., Heyneman, B., et al.: Gecko-inspired climbing behaviors on vertical and overhanging surfaces. In: 2008 IEEE Int. Conf. Robot. Autom, pp. 1125–1131. IEEE (2008)
Wang, H., Yamamoto, A., Higuchi, T.: Electrostatic-motor-driven electroadhesive robot. In: 2012 IEEE/RSJ Int. Conf. Intell. Robot. Syst., pp. 914–919. IEEE (2012)
Xiao, J., Sadegh, A.: City-Climber: A New Generation Wall-climbing Robots. Climbing Walk. Robot. Towar. New Appl. Itech Education and Publishing, pp. 383–402 (2007)
Tavakoli, M., Viegas, C., et al.: Omni-Directional Magnetic Wheeled Climbing Robots for Inspection of Ferromagnetic Structures. Rob. Auton. Syst. 61, 997–1007 (2013)
Zhang, Y., Dodd, T., et al.: Design and optimization of magnetic wheel for wall and ceiling climbing robot. In: 2010 IEEE Int. Conf. Mech. Autom, pp. 1393–1398. IEEE (2010)
Carrara, G., De Paulis, A., Tantussi, G.: SSR: A Mobile Robot on Ferromagnetic Surfaces. Autom. Constr. 1, 47–53 (1992)
Grieco, J.C., Prieto, M., Armada, M., De Santos, P.: A six-legged climbing robot for high payloads. In: Proccedings 1998 IEEE Int. Conf. Control Appl, pp. 446–450. IEEE (1998)
Marchese, A.D., Asada, H., Rus, D.: Controlling the locomotion of a separated inner robot from an outer robot using EPM. In: 2012 IEEE Int. Conf. Robot. Autom, pp. 3763–3770. IEEE (2012)
Knaian, A.N.: Electropermanent Magnetic Connectors and Actuators: Devices and Their Application in Programmable Matter, p. 206
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2015 Springer International Publishing Switzerland
About this paper
Cite this paper
Ochoa-Cardenas, F., Dodd, T.J. (2015). Design of a Continuously Varying Electro-Permanent Magnet Adhesion Mechanism for Climbing Robots. In: Dixon, C., Tuyls, K. (eds) Towards Autonomous Robotic Systems. TAROS 2015. Lecture Notes in Computer Science(), vol 9287. Springer, Cham. https://doi.org/10.1007/978-3-319-22416-9_23
Download citation
DOI: https://doi.org/10.1007/978-3-319-22416-9_23
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-22415-2
Online ISBN: 978-3-319-22416-9
eBook Packages: Computer ScienceComputer Science (R0)