Study of Wall Climbing Robot Structure and Driving Torque Analysis

  IJETT-book-cover  International Journal of Engineering Trends and Technology (IJETT)          
  
© 2021 by IJETT Journal
Volume-69 Issue-9
Year of Publication : 2021
Authors : Yeon Taek OH
  10.14445/22315381/IJETT-V69I9P230

MLA 

MLA Style: Yeon Taek OH  "Study of Wall Climbing Robot Structure and Driving Torque Analysis" International Journal of Engineering Trends and Technology 69.9(2021):251-256. 

APA Style: Yeon Taek OH. Study of Wall Climbing Robot Structure and Driving Torque Analysis  International Journal of Engineering Trends and Technology, 69(9),251-256.

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.

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