scholarly journals An Omni-Directional Wall-Climbing Microrobot with Magnetic Wheels Directly Integrated with Electromagnetic Micromotors

10.5772/45663 ◽  
2012 ◽  
Vol 9 (1) ◽  
pp. 16 ◽  
Author(s):  
Xiaoning Tang ◽  
Dawei Zhang ◽  
Zhenbo Li ◽  
Jiapin Chen
Keyword(s):  
Static Analysis ◽  
Magnetic Force ◽  
Visual Detection ◽  
Load Capacity ◽  
Design Constraints ◽  
Climbing Ability ◽  
Stators And Rotors

This paper presents an omni-directional wall-climbing microrobot with magnetic wheels. The integral design with an actuator and adhesive is realized by integrating stators and rotors of an MEMS-based electromagnetic micromotor with a magnetic wheel. The omni-directional wall-climbing mechanism is designed by a set of steering gears and three standard magnetic wheels. The required torque and magnetic force for microrobot movement are derived by its static analysis. The size of the magnetic wheel is optimized, with consideration of its own design constraints, by ANSOFT and Pro/Engineer simulation so as to reduce unnecessary torque consumption under the same designed load. Related experiments demonstrate that the microrobot (diameter: 26mm; height: 16.4; mass: 7.2g; load capacity: 3g) we have developed has a good wall-climbing ability and flexible mobility, and it can perform visual detection in a ferromagnetic environment.

Design of the Ball Screw Mechanism for Optimal Efficiency

1989 ◽  
Author(s):  
M.-C. Lin ◽  
S. A. Velinsky ◽  
B. Ravani
Keyword(s):  
Closed Form ◽  
Static Analysis ◽  
Load Capacity ◽  
Equations Of Motion ◽  
Closed Form Solution ◽  
Form Solution ◽  
Ball Screw ◽  
Exact Theory ◽  
Screw Mechanism ◽  
Extensive Computation

Abstract This paper develops theories for evaluating the efficiency of the ball screw mechanism and additionally, for designing this mechanism. Initially, a quasi-static analysis, which is similar to that of the early work in this area, is employed to evaluate efficiency. Dynamic forces, which are neglected by the quasi-static analysis, will have an effect on efficiency. Thus, an exact theory based on the simultaneous solution of both the Newton-Euler equations of motion and the relevant kinematic equations is employed to determine mechanism efficiency, as well as the steady-state motion of all components within the ball screw. However, the development of design methods based on this exact theory is difficult due to the extensive computation necessary and thus, an approximate closed-form representation, that still accounts for the ball screw dynamics, is derived. The validity of this closed-form solution is proven and it is then used in developing an optimum design methodology for the ball screw mechanism based on efficiency. Additionally, the self-braking condition is examined, as are load capacity considerations.

The effect of permanent magnet position on axial and radial load capability in axial hybrid magnetic bearing

2020 ◽  
pp. 1-19
Author(s):  
Yunpeng Zhang ◽  
Houfu Wang ◽  
Shuning Gao ◽  
Shuqin Liu
Keyword(s):  
Permanent Magnet ◽  
Magnetic Force ◽  
Magnetic Levitation ◽  
Load Capacity ◽  
Magnetic Bearing ◽  
Radial Load ◽  
Magnetic Circuits ◽  
Radial Magnetic Force ◽  
Magnetic Levitation System ◽  
And Control

The axial and radial load capacity of axial hybrid magnetic bearing (HMB) is critical for the magnetic levitation system. In this paper, the effect of permanent magnet (PM) position on axial and radial magnetic force and stiffness in axial HMB is investigated. Six different configurations are considered and the equivalent magnetic circuits of HMBs for each configuration is built and studied based on the distribution of magnetic field and magnetic leakage. The dependence of axial and radial magnetic force and stiffness on the axial displacement, radial displacement and control current is calculated and investigated for different configurations. To validate the calculated results, the axial and radial magnetic forces for each configuration are simulated by finite element method. A good agreement between the calculated and simulated results validated the proposed magnetic circuit models.

scholarly journals Ultimate Load Capacity of Optimal Designed Angelina™ Beams

2018 ◽  
Vol 2 (3) ◽  
Author(s):  
Ferhat Erdal ◽  
Osman Tunca ◽  
Serkan Tas ◽  
Serdar Carbas
Keyword(s):  
Ultimate Load ◽  
Search Algorithm ◽  
Load Capacity ◽  
Minimum Weight ◽  
Harmony Search ◽  
Local Buckling ◽  
Experimental Tests ◽  
Shear Capacity ◽  
Design Methods ◽  
Design Constraints

This study briefly summarizes the results of experimental tests performed on optimal designed Angelina™ steel beams. The objective of the investigation was to study the effect of hole geometry on the mode of failure and ultimate strength of such beams under loading conditions. For this purpose, six optimal designed Angelina™ beams are tested in a self-reacting frame to determine the ultimate load carrying capacities of these new generation web-expanded beams. The specimens were all fabricated from IPN beams and were expanded to almost 1.5 times the original depth. All specimens were fabricated from ASTM A-36 steel. The design methods for the specimens will be the harmony search algorithm and particle swarm method which are stochastic search techniques. The minimum weight is taken as the design objective while the design constraints are implemented from the SCI (Steel Construction Institute). Design constraints include the displacement limitations, overall beam flexural capacity, beam shear capacity, overall beam buckling strength, web post flexure and buckling, vierendeel bending of upper and lower tees and local buckling of compression flange. The design methods adopted in this publication are consistent with BS5950.

scholarly journals Comparative Electromagnetic and Quasi–Static Simulations of a Shortpulse Propagation along Microstrip Meander Delay Lines with Design Constraints

2016 ◽  
Vol 67 (5) ◽  
pp. 387-389 ◽  
Author(s):  
Pavel Orlov ◽  
Talgat Gazizov ◽  
Aleksander Zabolotsky
Keyword(s):  
Numerical Analysis ◽  
Static Analysis ◽  
Pulse Signal ◽  
Delay Lines ◽  
Design Constraints ◽  
Electromagnetic Simulations

Abstract A numerical analysis of microstrip meander delay lines is considered. Results of quasi-static and electromagnetic simulations are given. It is shown that when increasing a number of turns and proportionally reducing their length, distortions of a pulse signal in the line are reduced. At the same time, despite structure’s electrical width increase, the agreement between the results of quasi-static and electromagnetic analyses is improved. Thus, it is demonstrated that when designing the microstrip meander delay lines with minimal distortions, the quasi-static analysis is relevant.

scholarly journals A gecko-inspired wall-climbing robot based on vibration suction mechanism

2019 ◽  
Vol 233 (19-20) ◽  
pp. 7132-7143 ◽  
Author(s):  
Rui Chen ◽  
Leilei Fu ◽  
Yilin Qiu ◽  
Ruizhou Song ◽  
Yan Jin
Keyword(s):  
Motion Planning ◽  
Negative Pressure ◽  
Load Capacity ◽  
Wall Surface ◽  
Climbing Robot ◽  
Suction Force ◽  
Turning Angle ◽  
Potential Applications ◽  
Tripod Gait ◽  
Climbing Ability

A prototype of gecko-inspired wall-climbing robot based on vibration suction mechanism is proposed. The robot adheres to the wall surface based on a novel negative pressure technology named as vibration suction. According to the theory of vibration suction, the vibration suction module is designed as the foot of the wall-climbing robot. In addition, the tripod gait of geckos is taken into account in the motion planning of the robot. By combining the unique properties of vibration suction mechanism and the tripod gait of the geckos, several advantages including stable motion, certain load capacity, anti-overturning ability, and good suction force to the wall surfaces are obtained. The climbing ability is verified by the experiment on the surface of the glass, which manifests that the robot can climb vertically at the highest speed of 13.75 mm/s with a spot turning at the single maximum turning angle of 20°. Potential applications of this proposed climbing robot in some fields include repair, construction, cleaning, and exploration.

scholarly journals Ultimate Load Capacity of Optimal Designed Angelina™ Beams

2018 ◽  
Author(s):  
Ferhat Erdal ◽  
Osman Tunca ◽  
Serkan Tas ◽  
Serdar Carbas
Keyword(s):  
Ultimate Load ◽  
Search Algorithm ◽  
Load Capacity ◽  
Minimum Weight ◽  
Harmony Search ◽  
Local Buckling ◽  
Experimental Tests ◽  
Shear Capacity ◽  
Design Methods ◽  
Design Constraints

This study briefly summarizes the results of experimental tests performed on optimal designed Angelina™ steel beams. The objective of the investigation was to study the effect of hole geometry on the mode of failure and ultimate strength of such beams under loading conditions. For this purpose, six optimal designed Angelina™ beams are tested in a self-reacting frame to determine the ultimate load carrying capacities of these new generation web-expanded beams. The specimens were all fabricated from IPN beams and were expanded to almost 1.5 times the original depth. All specimens were fabricated from ASTM A-36 steel. The design methods for the specimens will be the harmony search algorithm and particle swarm method which are stochastic search techniques. The minimum weight is taken as the design objective while the design constraints are implemented from the SCI (Steel Construction Institute). Design constraints include the displacement limitations, overall beam flexural capacity, beam shear capacity, overall beam buckling strength, web post flexure and buckling, vierendeel bending of upper and lower tees and local buckling of compression flange. The design methods adopted in this publication are consistent with BS5950.

Design of the Ball Screw Mechanism for Optimal Efficiency

1994 ◽  
Vol 116 (3) ◽  
pp. 856-861 ◽  
Author(s):  
M. C. Lin ◽  
S. A. Velinsky ◽  
B. Ravani
Keyword(s):  
Closed Form ◽  
Static Analysis ◽  
Load Capacity ◽  
Equations Of Motion ◽  
Closed Form Solution ◽  
Form Solution ◽  
Ball Screw ◽  
Exact Theory ◽  
Screw Mechanism ◽  
Extensive Computation

This paper develops theories for evaluating the efficiency of the ball screw mechanism and additionally, for designing this mechanism. Initially, a quasi-static analysis, which is similar to that of the early work in this area, is employed to evaluate efficiency. Dynamic forces, which are neglected by the quasi-static analysis, will have an effect on efficiency. Thus, an exact theory based on the simultaneous solution of both the Newton-Euler equations of motion and the relevant kinematic equations is employed to determine mechanism efficiency, as well as the steady-state motion of all components within the ball screw. However, the development of design methods based on this exact theory is difficult due to the extensive computation necessary and thus, an approximate closed-form representation, that still accounts for the ball screw dynamics, is derived. The validity of this closed-form solution is proven and it is then used in developing an optimum design methodology for the ball screw mechanism based on efficiency. Additionally, the self-braking condition is examined, as are load capacity considerations.

Sign in / Sign up

Export Citation Format

Share Document