자력을 이용한 벽면주행 로봇 연구
Study of Wall Climbing Robot Having Magnetic Force
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초록
The paper studied the climbing structure and magnet selection method of exploration platform utilized for large-scale steel structures such as vessel surface. With respect to wall climbing robots, the study proposed a stable operation structure even in rapid incline change of vessel surface. Since the wheel-based operating method is hard to work flexibly in inclination changes, we employed joints and designed the robot to have a rotation joint in the center. The arrangement of wheels is an important aspect of this structure. Viewed from the side, the robot wheels should overlap with each other to have intersection points. The wheels here are ring-type permanent magnets and serve as a tool of attachment on walls. Based on the conditions identified through formula modeling, we proposed the required magnetic force. Important factors needed for magnetic force setup include platform weight, angle between ground and inclined plane, and friction coefficient. We considered only the required magnetic force for the stable adhesion of circular magnet while making not a separate mention about the necessary force for directional locomotion. The analysis results of ANSYS Maxwell are applied to magnetic attachment. Based on the final analysis results, we built a platform and found it did not slip and stayed attached on steel plate.
Abstract
The paper studied the climbing structure and magnet selection method of exploration platform utilized for large-scale steel structures such as vessel surface. With respect to wall climbing robots, the study proposed a stable operation structure even in rapid incline change of vessel surface. Since the wheel-based operating method is hard to work flexibly in inclination changes, we employed joints and designed the robot to have a rotation joint in the center. The arrangement of wheels is an important aspect of this structure. Viewed from the side, the robot wheels should overlap with each other to have intersection points. The wheels here are ring-type permanent magnets and serve as a tool of attachment on walls. Based on the conditions identified through formula modeling, we proposed the required magnetic force. Important factors needed for magnetic force setup include platform weight, angle between ground and inclined plane, and friction coefficient. We considered only the required magnetic force for the stable adhesion of circular magnet while making not a separate mention about the necessary force for directional locomotion. The analysis results of ANSYS Maxwell are applied to magnetic attachment. Based on the final analysis results, we built a platform and found it did not slip and stayed attached on steel plate.
참고문헌 (6)
- S. D. Kwon, "Design of wall-climbing mobile platform by modeling of attachable and traction force", Proc. The 2010 Fall Conference of The Korean Association of Immunologists, pp.239~240 (2010), Korean Society Of Precision Engineering
- H. R. Choi, "Development of wall climbing robot", Proc. 1999 Spring Conference of The Korean Association of Immunologists, pp.3~6 (1999), Korean Society Of Precision Engineering
- H. Kim, "Design of tracked wheel mechanism for wall climbing robot", Proc. 2010 Fall Conference of The Korean Association of Immunologists, pp.215~216 (2010), Korean Society Of Precision Engineering
- S. H. Park, "Development of the wall climbing robot using New Mechanism", Proc. 2016 Fall Conference of the Korean Association of Immunologists, pp.150~151 (2016), Korean Society of Precision Engineering
- 한승철, "벽면이동 로봇용 하이브리드 자석바퀴 3차원 유한요소해석 및 설계", 대한조선학회 논문집, 47(1), pp.88~92 (2010), 대한조선학회
- H. Yi, "Guideline for the design of wall-climbing mobile robot using permanent magnetic wheels", Proc. 2002 Fall Conference of The Korean Association of Immunologists, pp.548~553 (2002), Korean Society Of Precision Engineering