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.
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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
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DOI: https://doi.org/10.1007/978-3-319-22416-9_23
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