Abstract
In order to ensure the cargo clean and improve the service life of the cargo hold, the cargo hold needs to be cleaned and maintained regularly. In this paper, a wheeled wall-climbing robot for cargo hold cleaning is proposed, which can walk on multiple surfaces of cargo hold. Firstly, this paper introduces the mechanical design of the wall-climbing robot. To prevent the robot from skidding or overturning on the wall, the force analysis of the robot is carried out to make sure it can walk steadily. In addition, the characteristics of the magnetic attraction force when the robot transitions on the wall are analyzed, and the relationship between the magnetic attraction force of the front wheel and the rear wheel is determined. In order to obtain reliable magnetic adsorption force, the arrangement and installation position of magnets are optimized through simulation and analysis based on the Halbach array. Finally, a new magnetic adsorption device was developed for wall transition.
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Acknowledgement
This paper is partially supported by Science and Technology Planning Project of Guangdong Province (2017B090914004), CAS-HK Joint Laboratory of Precision Engineering, and NSFC-Shenzhen Robot Basic Research Center project (U1713224).
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Chen, J., He, K., Fang, H., Liu, J., Ma, H. (2021). Design and Simulation Analysis of a Magnetic Adsorption Mechanism for a Wall-Climbing Robot. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13016. Springer, Cham. https://doi.org/10.1007/978-3-030-89092-6_14
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DOI: https://doi.org/10.1007/978-3-030-89092-6_14
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