scholarly journals Experimental investigations on permanent magnet based wheel mechanism for safe navigation of climbing robot

2018 ◽  
Vol 133 ◽  
pp. 377-384 ◽  
Author(s):  
Ravindra Singh Bisht ◽  
Pushparaj Mani Pathak ◽  
Saroj Kumar Panigrahi
Keyword(s):  
Permanent Magnet ◽  
Experimental Investigations ◽  
Climbing Robot ◽  
Safe Navigation

scholarly journals Development of Disk Rover, Wall-Climbing Robot using Permanent Magnet Disk.

1992 ◽  
Vol 10 (7) ◽  
pp. 992-997 ◽  
Author(s):  
Shigeo HIROSE ◽  
Hiroshi TSUTSUMITAKE ◽  
Ryousei TOYAMA ◽  
Kengo KOBAYASHI
Keyword(s):  
Permanent Magnet ◽  
Climbing Robot

Expert Fuzzy-Neuro Controller Design for Wall Climbing Robot for Decontamination of Nuclear-Power Station

1995 ◽  
Vol 7 (1) ◽  
pp. 75-85
Author(s):  
Sergei V. Ulyanov ◽  
◽  
Kazuo Yamafuji ◽  
Valery G. Gradetsky ◽  
Andrea Pagni ◽  
...  
Keyword(s):  
Mobile Robot ◽  
Nuclear Power Station ◽  
Nuclear Power ◽  
Fuzzy Controller ◽  
Controller Design ◽  
Horizontal Displacement ◽  
Experimental Investigations ◽  
Climbing Robot ◽  
Power Station ◽  
Environment Recognition

The arrangement principles and design methodology for complex control framework of Al control systems are introduced. The notions of intelligence levels with top boundary (""intelligence in large"") and the bottom boundary (""intelligence in small"") are defined. Special methodology of Al control system design for decontamination of nuclear-power station (IMPS) on the base of a wall-climbing robot (WCR) with various intelligence levels is considered. The basis of this methodology is computer simulation of dynamics for mechanical systems with the help of qualitative physics and search for possible solutions by genetic algorithm (GA). On artificial neural networks, optimal solutions are obtained and a knowledge base of fuzzy controller on WARP (Weight Associative Rule Processor) is formed. Strategy for planning, environment recognition using two types of sensors, and locomotion control to realize autonomous locomotion of the mobile robot are described. The WCR and the mobile robot for horizontal displacement with manipulators are moved in unstructured environments. Fuzzy qualitative simulation, GA and hierarchical node map, and fuzzy neural network (FNN) have demonstrated their effectiveness for path planning of the mobile robots. The results of fuzzy robot control simulation, monitoring, and experimental investigations are presented. The application of WARP to design automatic fuzzy controller for fuzzy correction motion of manipulator and WCR is examined.

A wall-climbing robot for labelling scale of oil tank's volume

Robotica ◽  
2002 ◽  
Vol 20 (2) ◽  
pp. 209-212 ◽  
Author(s):  
Zeliang Xu ◽  
Peisun Ma
Keyword(s):  
Control System ◽  
Permanent Magnet ◽  
Control Systems ◽  
Computer Control ◽  
Wall Surface ◽  
Climbing Robot ◽  
Processing Data ◽  
Oil Tank

A Wall-Climbing Robot (WCR) with magnetic tracks is presented in this paper. The robot is designed for labeling the scale of oil tank.5 The Wall-Climbing Robot (WCR) uses a permanent magnet sucker as its sucking mode, and a track as its moving mode. We designed an elastic brace mechanism, a load-scatter mechanism and parallelogram mechanism to improve the robot's adaptability on the steel wall surface. The control system utilizes two-level computer control systems, achieving control of the robot's moving track and processing data collected by the robot.

Design Guidelines for an Embedded Permanent Magnetic Matrix Wheel Climbing Robot

2015 ◽  
Vol 789-790 ◽  
pp. 705-710
Author(s):  
Arsit Boonyaprapasorn ◽  
Kaned Thung-od ◽  
Thavida Maneewarn
Keyword(s):  
Permanent Magnet ◽  
Lower Cost ◽  
Adhesive Force ◽  
Design Guidelines ◽  
Climbing Robot

This paper aims to study the design of a climbing robot with an embedded permanent magnetic matrix (EPMM) wheel. There are a number of advantages for an EPMM wheel including lighter weight, lower cost and higher degree of adaptability compared to a donut permanent magnet wheel. The magnetic adhesive force on the EPMM wheel can be adjusted by changing the wheel configurations such as number of magnets embedded in the wheel, the thickness of flange and the flange geometry. From various experiments, the EPMM wheel design guidelines are proposed for ferromagnetic wall climbing robot applications.

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