The article presents a mobile robot for climbing on vertical ferromagnetic surfaces. The robot was designed with hybrid omnidirectional rubber/silicone roller wheels for proper asymmetric friction force generation and a controllable electromagnet for ferromagnetic surface adhesion. The friction force of rubber and silicone rollers and the adhesion force of the electromagnet were investigated. An embedded electronic system with a mobile processor was installed on the robot to allow for remote control. Our results show versatile robot climbing on a ferromagnetic wall with omnidirectional motion and a lower adhesion force-to-weight ratio as compared to that of the others.


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    Title :

    Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Climbing and Walking Robots Conference ; 2023 ; Florianópolis, Brazil October 02, 2023 - October 04, 2023



    Publication date :

    2024-02-08


    Size :

    6 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




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