Study of Wall Climbing Robot Structure and Driving Torque Analysis

Study of Wall Climbing Robot Structure and Driving Torque Analysis
  IJETT-book-cover           
  
© 2021 by IJETT Journal
Volume-69 Issue-9
Year of Publication : 2021
Authors : Yeon Taek OH
DOI :  10.14445/22315381/IJETT-V69I9P230

How to Cite?

Yeon Taek OH, "Study of Wall Climbing Robot Structure and Driving Torque Analysis," International Journal of Engineering Trends and Technology, vol. 69, no. 9, pp. 251-256, 2021. Crossref, https://doi.org/10.14445/22315381/IJETT-V69I9P230

Abstract
This paper studied robot systems and structures based on the adhesive force of magnets to develop wall-climbing robots using the magnetic force to enable climbing of a steel structure, such as ships, and exploration of their interior. The adhesive force was suggested in the form of a formula to select magnets required for the design of a wall-climbing robot utilizing magnetic force. The adhesive force based on the magnetic one should be reflected not only in the selection of the magnets but in the calculation of the torque required for the wheels. An analysis on the motor driving torque required depending on the location of the center of gravity(COG) to identify various relevant characteristics shows that a lower torque is required when COG is located closer to the center of the body of the robot and to the ground and that the same torque is produced at the front and rear wheels. Therefore, the finding that the location of COG should be closer to the ground and to the center of the body needs to be reflected in the design of wall-climbing robots. It also proposes a mechanism that guarantees smooth driving on a stiff slope and a comparison of any changes in the driving torque of the robot depending on the location of COG. In addition, changes witnessed in the body of the robot while moving were compared based on driving tests and simulation.

Keywords
driving torque, wall-climbing, mechanism, exploration robot, the center of gravity

Reference
[1] S. D. Kwon, S. J. Kim, S. Y. Kim, S. H. Kim, Design of wall-climbing mobile platform by modeling of attachable and traction force, in Proc. The 2010 Fall Conference of The Korean Association of Immunologists, Korean Society Of Precision Engineering, (2010) 239-240.
[2] H. R. Choi, J. H. Lee, Development of wall-climbing robot, in Proc. 1999 Spring Conference of The Korean Association of Immunologists, Korean Society Of Precision Engineering, (1999) 3-6.
[3] H. Kim, K. Seo, J. Kim, H. Kim, Design of tracked wheel mechanism for wall climbing robot, in Proc. 2010 Fall Conference of The Korean Association of Immunologists, Korean Society Of Precision Engineering, (2010) 215-216.
[4] S. H. Park, K. J. Seo, J. R. Choi, D. H. Kwon, J. H. Bang, S. G. Kim, Development of the wall-climbing robot using New Mechanism, in Proc. 2016 Fall Conference of the Korean Association of Immunologists, Korean Society of Precision Engineering, (2016) 150-151.
[5] S. C. Han, J. Y. Lee, J. H. Kim, Design of hybrid magnet wheels using 3d finite element analysis for the wall-climbing robot, Journal of the Society of Naval Architects of Korea, 47(1) (2010) 88-89.
[6] R.C. Hibbeler, Kai Beng Yap, Mechanics for Engineers: DYNAMICS 13th Edition, (2015)
[7] Jae Young Joo, Jae Young Joo, Yeon Taek OH, Study of a wall-climbing robot having proposition of stable mechanism on inclined plne based on magnetic force, Journal of Automation and control engineering, 7(1) (2019) 36~40.
[8] H. Yi, E. Kim, S. Han, Guideline for the design of wall-climbing mobile robot using permanent magnetic wheels, in Proc. 2002 Fall Conference of The Korean Association of Immunologists, Korean Society Of Precision Engineering, (2002) 548-553.
[9] Yeon Taek OH, Study of a wall-climbing robot having magnetic force, J. Korean Soc. Mech. Technol, 22(6) (2020) 1001~1005.
[10] Nicholson, J. W., and Healey, A. J., The Present State of Autonomous Underwater Vehicle (AUV) Application and Technologies, Marine Technology Society Journal, 42(1) (2008) 44-52.
[11] Ura, T., Tabuchi, H., Obara, T., Maeda, H., and Yamato, H., Development of Autonomous Vehicle with a Closed Cycle Diesel Engine, Proc. 18th Joint Meeting UJNR Marine Facilities Panel, (1993) 170-188.
[12] Bradley, A. M., Feezor, M. D., Singh, H., and Sorrell, F. Y., Power System for Autonomous Underwater Vehicle, IEEE Journal of Oceanic Engineering, 26(4) (2001) 526-538.
[13] Sibenac, M., Podder, T., Kirkwood, W., and Thomas, H., Autonomous Underwater Vehicles for Ocean Research: Current Needs and State of the Art Technologies, Marine Technology Society Journal, 38(2) (2004) 63-72.
[14] Stokey, R. A. et al., Development of REMUS 600 Autonomous Underwater Vehicle, Proc. MTS/IEEE Oceans, (2005).
[15] McEwen, R. H., Thomas, D., Weber, D., and Psota, F., Performance of an AUV Navigation System at Arctic Latitudes," IEEE Journal of Oceanic Engineering, 30(2) (2005) 443-454.
[16] Miline, D. H., Underwater Acoustic Positioning Systems, Gulf Publishing, Houston, (1983).
[17] Kinsey, J. C., Eustice, R. M., and Whitcomb, L. L., Underwater Vehicle Navigation: Recent Advances and New Challenges, Proc. IFAC Conf. on Maneuvering and Control of Marine Craft, Lisbon, Portugal, (2006).
[18] Ribas, D., Ridao, P., Tardos, J. D., and Neira, J., Underwater SLAM in Man-Made Structured Environments, Journal of Field Robotics, DOI 10. 1002, (2008) 1-24.
[19] Fairfield, N., Kantor, G. and Wettergree, D., Real-time SLAM with Octree Evidence Grids for Exploration in Underwater Tunnels, Journal of Field Robotics, 24 (2007) 3-21.
[20] Y. T. OH, Evaluation of joint driving torque and finite element analysis in articulate robot through the simulation of multi-body dynamics, International Jpournal of Innovative Technology and Exploring Engineeing, 8(11) (2019) 682-686.
[21] Ig Mo Koo1, Young Kouk Song,Hyungpil Moon, Sun Kyu Park, HyoukRyeol Choi, Design and Control of Wall Climbing Robot Using Impeller, Journal of Korea Robotics Society, 5(3) (2010) 177-185.
[22] X. Daijun, G. Xueshan, W. Xiaobing, F. Ningjun, L. Kejie, K. Koki, Suction Ability Analyses of a Novel Wall Climbing Robot, Proceedings of IEEE International Conference on Robotics and Biomimetics, (2006) 1506-1511.
[23] Y. K. Song, C. M. Lee, I. M. Koo, D. T. Trong , H. Moon, H. R. Choi, Development of Wall Climbing Robotic System for Inspection Purpose, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, (2008) 1990-1995.