Copyright Statement: This is an open access article licensed under a Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, even commercially as long as the original work is properly cited.
Digital Object Identifier (DOI) : 10.14569/IJACSA.2015.060802
Article Published in International Journal of Advanced Computer Science and Applications(IJACSA), Volume 6 Issue 8, 2015.
Abstract: Wall climbing robot can provide easier accessibility to tall structures for Non Destructive Testing (NDT) and improve working environments of human operators. However, existing adhesion mechanism for climbing robots such as vortex, electromagnet etc. are still at development stage and offer no feasible adhesion mechanism. As a result, few practical products have been developed for reinforced concrete surfaces, though wall-climbing robots have been researched for many years. This paper proposes a novel magnetic adhesion mechanism for wall-climbing robot for reinforced concrete surface. Mechanical design parameters such as distance between magnets, the yoke thickness, and magnet arrangements have been investigated by Finite Element Analysis (FEA). The adhesion module can be attached under the chassis of a prototype robot. The magnetic flux can penetrate maximum concrete cover of 30 mm and attain adhesion force of 121.26 N. The prototype provides high Force-to-Weight ratio compared to other reported permanent magnet based robotic systems. Both experiment and simulation results prove that the magnetic adhesion mechanism can generate efficient adhesion force for the climbing robot to operate on vertical reinforced concrete structures.
MD Omar faruq Howlader and Traiq Pervez Sattar, “Finite Element Analysis based Optimization of Magnetic Adhesion Module for Concrete Wall Climbing Robot” International Journal of Advanced Computer Science and Applications(IJACSA), 6(8), 2015. http://dx.doi.org/10.14569/IJACSA.2015.060802