Investigations on the effect of Wall thickness on magnetic adhesion for Wall climbing robots
Investigations on the effect of Wall thickness on magnetic adhesion for Wall climbing robots
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DOI：
10.2316/j.2021.206-0441
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发表时间：
2021
期刊：
影响因子：
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通讯作者：
J. Jose;D. Devaraj;Ramya Manthanam Mathanagopal;R. Chetty;M. Tokhi;T. Sattar
中科院分区：
文献类型：
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作者：
J. Jose;D. Devaraj;Ramya Manthanam Mathanagopal;R. Chetty;M. Tokhi;T. Sattar
这项工作的重点是研究用于爬壁机器人的铁磁表面上的永磁体布置的粘着特性。壁厚的变化影响了机器人的附着特性，进而影响了有效载荷，改变了工作条件。壁厚变化对爬壁机器人粘着强度的影响是一个很少研究的领域，这项工作正在探索中。建立了粘结机理和铁磁表面的二维模型，并进行了数值模拟。研究了不同厚度的铁磁表面与不同牌号磁体的粘接特性。其中研究了两种不同的距离，这两种距离包括磁体和待检表面之间的间隙。并对其性能进行了实验研究，实验结果与仿真结果具有较强的相关性。模拟和实验验证的磁性附着力将提供更好的洞察磁性爬壁系统。
The focus of this work is to investigate the adhesion characteristics of a permanent magnet arrangement over ferromagnetic surfaces for wall climbing robot applications. The changes in wall thickness affect the adhesion characteristics of the robot, this in turn influences the payload and alters the operating conditions. The effect of varying the wall thickness on the adhesion strength of a wall-climbing robot is an area barely investigated and this is being explored in this work. A two-dimensional model of the adhesion mechanism and the ferromagnetic surface is developed and simulated in this study. The adhesion characteristics are studied for different thicknesses of the ferromagnetic surface with different grades of the magnet. Two different standoff distances which comprise the gap between the magnet and the surface to be inspected are investigated therein. Experimental studies are also carried out to measure the performance, and the results show a strong correlation with the simulation results. Simulation with experimental validation of magnetic adhesion presented will provide better insights into magnetic wall climbing systems.