Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate

Kondratenko, Yuriy; Zaporozhets, Yuriy; Rudolph, Joachim; Gerasin, Oleksandr; Topalov, Andriy; Kozlov, Oleksiy

doi:10.1109/idaacs.2017.8095122

Cited by 12 publications

(16 citation statements)

References 13 publications

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“…As the studies in this paper show, the finite elements method is especially effective for the calculation of electromagnetic processes of machines and mechanisms. The idea of the finite elements method lies in the fact, that functional minimizing of variational problem is performed on the aggregate of functions, each of which is defined in its subarea [26]. The area, in which the differential equation solutions are searched for, is divided into finite number of subareas (elements).…”

Section: Computer Simulation Of Clamping Magnet's Interaction With Fementioning

confidence: 99%

“…In this paper, for MR's CE numerical simulation it is decided to use the powerful system Ansoft Maxwell 13.0, which is the advanced software for calculation and simulation of electromagnetic fields. This software is used for development and study of two-and three-dimensional models of sensors, motors, transformers and other electric and electromechanical devices for a wide range of applications [26]. Algorithmic basis of Ansoft Maxwell is the finite elements method that accurately calculates the static, harmonic electromagnetic and electric fields.…”

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

“…The authors developed the simulation model that corresponds to the real reduced CE with an extensive magnetic system [26,27] and the following dimensions: а = 50,2 mm; b = 31,0 mm; l = 10,0 mm (а -width, b -length, l -magnet height). The spatial position of CE can be specified in the program according to the nature of the working surface (Fig.…”

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

“…Also, by restructuring model the distribution of the magnetic field in a working gap (on working ferromagnetic surface) or in any other cross-section of magnetic system "CE-FS" as well as the values of the formed CF can be obtained for CE's static traction characteristics' calculation at different values of magnetomotive force and the gap [27,28], which is a nonferromagnetic nature uncertainty of working FS and formed due to presence of fouling [26], etc.…”

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

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Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Kondratenko¹,

Zaporozhets²,

Rudolph³

et al. 2018

IJC

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The mathematical models of clamping permanent and electro- magnets for clamping force determination by means of field theory (method of secondary sources and features of integrated forces calculation) are offered for magnetically operated movers of mobile robots (MR) for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of magnetic induction and clamping force measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are given. The developed simulation models based on field theory and finite element method allow to validate the obtained functional dependencies with respect to gaps between magnet and working surface, caused by excrescences of shells, and ferromagnetic surface thickness changes due to its technological features, as well as help at the stage of MR’s design. Authors propose control and measuring system of clamping force that can be successfully used for new and existing MRs’ constructions for their reliable operating on complex surfaces taking into account the nature of their uncertainties (ferromagnetic or non-ferromagnetic).

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Section: Computer Simulation Of Clamping Magnet's Interaction With Fementioning

confidence: 99%

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

Section: Clamping Electromagnet Simulationmentioning

confidence: 99%

See 2 more Smart Citations

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Kondratenko¹,

Zaporozhets²,

Rudolph³

et al. 2018

IJC

Self Cite

View full text Add to dashboard Cite

show abstract

“…The investigations of an interaction between magnetic driver and ferromagnetic surface are discussed in [22]. It is based on the calculation of magnetic field parameters for various thicknesses of the layers and creates a mathematical model as well as an algorithm for calculating the mechanical interaction with the permanent magnets.…”

Section: Related Work and Problem Statementmentioning

confidence: 99%

Models of Robot’s Wheel-Mover Behavior on Ferromagnetic Surfaces

Taranov¹,

Kondratenko²

2018

IJC

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The mobile robots which can move on complicated working surfaces play a significant role in the automation of various technological processes, in particular, ship repair, fire fighting, inspection of welding quality, rescue operations, etc. This work is a continuation of the authors’ investigation of the mobile robot’s moving on inclined and vertical ferromagnetic surfaces based on a magnetically operated wheel-mover. Special attention is paid to constructing magnetically operated wheel-mover with twelve legs and modeling of the robot’s wheel-mover behavior in different working modes including investigations of the wheel-mover center trajectory, behavior of control signals, etc. Geometrical dependences between a number of wheel-mover legs and deviation of the wheel center path from horizontal line are described. In the present article the modeling results for movement of the wheel-mover on both plain and non-plain surfaces are discussed. For this purpose, the mathematical model of the wheel-mover was created and analyzed and the results were verified using a simulation approach.

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Automatic Synthesis of Rule Bases of Fuzzy Control Systems Based on Genetic Algorithms

Kozlov

Kondratenko

2023

Studies in Fuzziness and Soft Computing

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Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate

Cited by 12 publications

References 13 publications

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Modeling of Clamping Magnets Interaction With Ferromagnetic Surface for Wheel Mobile Robots

Models of Robot’s Wheel-Mover Behavior on Ferromagnetic Surfaces

Automatic Synthesis of Rule Bases of Fuzzy Control Systems Based on Genetic Algorithms

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