Disk Rover: A Wall-climbing Robot Using Permanent
Disk Rover: A Wall-climbing Robot Using Permanent
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Disk Rover：使用永久物的爬墙机器人
DOI：
10.1109/iros.1992.601942
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发表时间：
1992
期刊：
影响因子：
--
通讯作者：
H. Tsutsumitake
中科院分区：
文献类型：
--
作者：
S. Hirose;H. Tsutsumitake
提出了一种新型的永磁圆盘轮式爬壁车，它能在平面或曲面铁壁表面上实现稳定、平稳的全方位运动。通过有限元分析找到了永磁盘的最佳形状，并在力学实验中得到了证实。研制了一台直径600 mm、高240 mm、重25 kg、采用永磁吸盘的无线电自主爬壁机器人。介绍了它的工作特性和运动实验结果。1.具有粘附在铁结构表面能力的机器人可用于许多类型的设施，例如储油库、球形气罐和核电站的蒸汽鼓，用于执行多种任务，例如检查、喷丸或喷漆。在这种环境中的操作是危险的，并且需要大量的人力和时间用于架设脚手架的“非生产性”工作。用爬墙机器人自动完成这些任务可以节省大量的金钱和人力成本。已经制作了几种爬壁机器人的实验模型，但很少有实验模型在粘附表面的能力和可操作性方面被证明是实用的。本文介绍了一种新型的爬壁机器人--圆盘漫游者，它采用了一种新的机构--圆盘形永磁体作为轮子。讨论了在设计优化过程中所作的决定，并描述了工作模型的运行结果。2.永久磁铁盘轮永久磁铁可以被认为是最有前途的附着装置，用于在铁制墙壁上移动。就单位面积的附着力而言，永磁体可以轻易地产生真空吸盘10倍以上的附着力;电磁体也能产生很高的力，但需要相当大的功率。尽管如此，永磁体的物理设计是至关重要的，在一个成功的爬壁机器人的发展。其中一位作者提出了一种使用永磁体的装置，称为“内部平衡磁体”或“IB磁体”，其可以在原则上以零控制力（l）调节磁体的粘附力。U3磁铁由一个永久磁铁组成，该磁铁由非磁性框架上的非线性弹簧支撑;其附着力设计为在磁铁离墙壁表面的任何高度处始终由弹簧力平衡。这种布置将永磁体视为能量守恒系统，而不是能量耗散系统。IB磁体还可以用作通过“行走”移动的壁攀爬机器人的足部中的粘附力单元。在本文中，作者想提出一种新的永磁体单元，移动与滚动运动。多年来，人们已经知道，如图1（a）所示的轮形永磁体可以有效地实现粘附和平移的功能，事实上，已经建造了几个使用磁轮的爬壁机器人（2，3）。这些驱动系统非常简单和轻便。然而，辊子构造意味着轮的有助于粘附的区域被限制为沿着与壁接触的线性区域。因此，粘附力与质量的比率不是很高。我们提出了一种盘形磁轮，其内侧是永磁体，并且其以围绕轮缘的浅斜面接触壁，如图1所示。RNLB结构允许磁体主体的沟槽紧邻壁表面，使其能够产生比磁辊更高的净粘附力，换句话说，粘附力与质量的比率更高。本文讨论了永磁单元的设计和基于该装置的爬壁机器人的设计。
A new wall climbing vehicle using permanent magnet disks for wheels is proposed which is capable of steady and smooth omni- directional locomotion on the surface of a flat or curved iron wall. The optimum shape of the permanent magnet disk is found through finite element analysis and confirmed in mechanical experiments. A self-sustained radio-controlled wail climbing robot about 600 mm in diameter, 240 mm in height, 25 kg in weight and employing a pair of permanent magnet disks is constructed. Its operating characteristics and the results of motion experiments are described. 1. INTRODUCXON Robots with the ability to adhere to the surface of an iron structure could be useful in many types of facilities, such as oil reservoirs, spherical gas tanks and the steam drums of nuclear power plants for performing several tasks, e.g. inspections, shot-blasting or painting. Operations in such environments are dangerous and a great amount of man- power and time is required for the 'non-productive' work of erecting scaffolding. Automating such tasks with wall- climbing robots could permit a large savings in monetary and human costs. Several experimental models of wall-climbing robots have been made, but few have proven to be practical in terms of their ability to adhere to the surface and their maneuverability. This report describes a new wall-climbing robot named Disk Rover which uses disk-shaped permanent magnets as wheels in a new mechanism. The decisions made during the course of design optimization are discussed and the results of operation of a working model are described. 2. )PERMANENT MAGNET DISK WHEEL The permanent magnet can be regarded as the most promising adhesion device for moving around on a wall made of iron. The permanent magnet can easily generate more than 10 times the adhesion of the vacuum sucker in terms of adhesive force per unit area; electromagnets also generate high forces, but require considerable amounts of power. Nonetheless, the physical design of the permanent magnets is of critical importance in the development of a successful wall climbing robot. One of the authors has proposed a device using a permanent magnet named the 'Internally Balanced magnet' or the 'IB magnet', which can regulate the adhesive force of the magnet with, in principle, zero control force (l). The U3 magnet consists of a permanent magnet which is supported by a nonlinear spring from a non-magnetic frame; its adhesive force is designed always to be balanced by the force of the spring at any altitude of the magnet from the surface of the wall. This arrangement treats the permanent magnet as an energy conservation system, rather than an energy dissipation system. The IB magnet could also be utilized as the adhesive force unit in the feet of a wall climbing robot which moves by 'walking'. In this paper the authors would like to propose a new permanent magnet unit which moves with a rolling motion. It has been known for years that a wheel-shaped permanent magnet as shown in Fig. l(a) could effectively fulfill both the functions of adhesion and translation and in fact, several wall-climbing robots using magnetic wheels have been constructed (2,3). These driving systems are remarkably simple and lightweight. However, the roller configuration means that the region of the wheel contributing to adhesion is limited to that along the linear area of contact with the wall. Therefore, the ratio of adhesive force to mass is not very high. We propose a disk-shaped magnetic wheel of which the inner side is a permanent magnet and which contacts the wall at a shallow bevel around the rim, as illustrated in Fig. l@). rnlb configuration permits moat of the body of the magnet to be in the immediate vicinity of the wall surface, enabling it to producc a highcr net adhesive force, in other words, a higher ratio of adhesive force to mass, than the magnetic roller. This paper discusses the design of the permanent magnet unit and of a wall climbing robot based on this device.