Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

Seriani, Stefano; Scalera, Lorenzo; Caruso, Matteo; Gasparetto, Alessandro; Gallina, Paolo

doi:10.3390/robotics8020041

Cited by 17 publications

(16 citation statements)

References 32 publications

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“…Such a device combines the concepts of a one-DoF agonist-antagonist variable-stiffness mechanism and the rigid planar parallel and orthogonal kinematics leading to an innovative solution. The authors of paper [13] present the modeling and the validation of a novel family of climbing robots that are capable of adhering to vertical surfaces by means of permanent magnetic elements. The robotic system is composed of two modules, the master and the follower carts, which are arranged in a sandwich configuration.…”

Section: Advances In Italian Roboticsmentioning

confidence: 99%

Advances in Mechanical Systems Dynamics

2020

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Section: Advances In Italian Roboticsmentioning

confidence: 99%

Advances in Mechanical Systems Dynamics

2020

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“…In general, wall-climbing robots adopt four types of adhesive mechanisms, which are vacuum suction cups [11], magnetic attraction [12,13], adhesive materials [14,15], and gripping claws or grasping mechanisms [16][17][18][19][20]. Each of the mechanisms possesses its own distinct advantages and drawbacks.…”

Section: Introductionmentioning

confidence: 99%

“…Magnetic attraction offers a large adhesion force and nondestructive conduction, but it is allowed be utilized on ferromagnetic surfaces. In [13], the authors proposed a magnetic adhesion robot that is capable of climbing non-ferromagnetic surfaces by utilizing a sandwich configuration. However, in the application of this kind of robot, both sides of the climbing surface should be equipped with the climbing devices.…”

Section: Introductionmentioning

confidence: 99%

“…Nevertheless, considering the noise and light weight of the robot, passive suction cups are expected to be used for weight minimization of wall-climbing robots. Considering the locomotion mechanism, wall-climbing robots can also be classified into four types, which are legged [21], wheeled [22], cable-driven [23], and tracked belt [10,16,24]. Each locomotion mechanism has its advantages and disadvantages.…”

Section: Introductionmentioning

confidence: 99%

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A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Tang²,

et al. 2020

Robotics

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This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

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“…The commonly used adhesion methods for climbing robots in the literature include vacuum adhesion [17], bio-inspired adhesion [18], gripping to the surface method [19], magnetic adhesion [20,21], and so on. Each method has its advantages and disadvantages, and detailed analysis can be found in the literature [22]. Generally speaking, the magnetic adhesion method is more suitable for the climbing robot carrying coating removal instruments in the ship-building industry [23] due to its reliable adhesion, low cost, and low energy.…”

Section: Introductionmentioning

confidence: 99%

Influence of Processing Parameters on Coating Removal for High Pressure Water Jet Technology Based on Wall-Climbing Robot

Zhang

Sun²,

Li³

et al. 2020

Applied Sciences

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Featured Application: The study shown in this manuscript helps to guide the further application of a wall-climbing robot for the shipbuilding industry.Abstract: The shipbuilding industry is very important for many countries. As an essential process in the shipbuilding industry, surface preparation (or coating removal) is gaining more and more attention. The traditional process used for ship hull coating removal is a sand-blasting process, which is harmful to the environment and inefficient. Recently, high pressure water jet technology has been developed to replace the traditional sand-blasting process. However, there are still many technical problems to be solved. In this paper, one wall-climbing robot was developed to remove coating based on high pressure water jet technology. Coating removal experiments under various experimental conditions were carried out and the corresponding coating removal rate for each case was obtained and compared. In addition, numerical simulation based on Fluid software was conducted to observe the water jet process more visually. Results show that the processing parameters, including the water pressure, travelling speed, inclined angle, and stand-off distance, can greatly influence the coating removal effect. The optimal processing parameters are obtained to guide the application of the high pressure water jet technology based on the designed wall-climbing robot for the shipbuilding industry.Many cleaning methods have been proposed and applied for hull cleaning in the last several decades. The most widely used traditional ship surface cleaning method is called sand-blasting [2], which generates a profile in micrometer-range by accelerating a sand-basting media through a nozzle with compressed air. However, this sand-blasting method has an obvious disadvantage: the concentration of soluble substances on the treated surface after sand-blasting is very high, and thus an extra cleaning process should be added before recoating [3]. Besides the sand-blasting method, there are also other surface preparation methods, such as high temperature oxidation [4], electrochemical method [5] and laser coating removal method [6]. The former two methods are not environmental friendly, and they both require large energy consumption, while the latter can induce thermal and physical damage to the work-piece due to excessive heat produced by the laser. Recently, hybrid laser-water-jet technology was proposed to yield high material removal rate without thermal damage [7], the energy consumption was also reduced but the costs of applying the two technologies are quite expensive.According to the literature mentioned above, the challenges faced during ship hull cleaning can be addressed as: How to minimize the energy consumption? How to realize environmental protection? How to enhance the cleaning efficiency? For the first two requirements, high speed water jet technology has been introduced recently as a promising substitute method [8]. During the water jet process, the potential energy of the high pressure w...

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Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems

Cited by 17 publications

References 32 publications

Advances in Mechanical Systems Dynamics

Advances in Mechanical Systems Dynamics

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Influence of Processing Parameters on Coating Removal for High Pressure Water Jet Technology Based on Wall-Climbing Robot

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