Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots
Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots
复制标题
用于空中检查机器人的基于 EPM 的吸附装置的可靠激活
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
N. Miura
中科院分区：
文献类型：
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作者：
A. Masuda;A. Tanaka;Yoshiyuki Higashi;N. Miura
本研究旨在开发一种用于结构检测机器人的附着装置，该装置有望用于降低老化民用基础设施和工业结构的检测成本。在之前的一项研究中，提出了一种基于电永磁体（EPM）的附着装置，可以通过电力打开和关闭对钢结构的磁附着力。在这项研究中，一个更通用的设计的依附装置，并提出了一个相当大的困难有关的激活过程中，可能会影响依附装置的可靠性的数学建模和实验的基础上。然后提出了两步激活过程的概念来克服所述困难，并且通过碰撞测试成功地证明了使用基于限位开关的接触传感器的实施。提出了通过测量电机线圈两端的感应电压实现接触检测的无传感器方法，并验证了其可行性。
This study aims to develop a clinging device for structural inspection robots, which are expected to be used to reduce the cost of inspection of aging civil infrastructure and industrial structures. In a previous study, an electro-permanent magnet (EPM)-based clinging device that could electrically turn on and off the magnetic adhesive force against steel structures was proposed. In this study, a more versatile design of the clinging device was firstly presented, and a considerable difficulty regarding the activation process of the EPM which might impair the reliability of the clinging device was stated based on mathematical modeling and experiments. The concept of a two-step activation process was then presented to overcome the stated difficulty, and its implementation using a limit switch-based contact sensor was successfully demonstrated through collision tests. Furthermore, sensorless realization of contact detection by measuring the induced voltage across the coil of the EPM was proposed, and its feasibility was validated.