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10 November 2022 Research on a magnetic adsorption omnidirectional motion robot system
Zhanfan Zhou, Yu Yan, Yi Xiao, Neng Li, You Li, Wei Deng, Yisheng Yu
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Proceedings Volume 12331, International Conference on Mechanisms and Robotics (ICMAR 2022); 123312H (2022) https://doi.org/10.1117/12.2652989
Event: International Conference on Mechanisms and Robotics (ICMAR 2022), 2022, Zhuhai, China
Abstract
According to the needs of pipeline inspection in power industry, an omni-directional motion robot with a magnetic adsorption is proposed. The robot can not only achieve the stable adsorption and movement of the magnetic conductor wall, but also has a simple structure, and high flexibility. Firstly, combining with the actual performance requirements of the project, the scheme selection of different modules of the robot was determined. Secondly, Maxwell module of ANSYS finite element analysis software was used to study the adsorption device, and an adsorption device with stable adsorption was obtained, which ensured the safe and stable operation of the robot on the vertical wall. Then, the hardware system and control system of the robot are determined, and the construction of the robot system is completed. Then the dynamics of the robot are analyzed, and the simulation is carried out according to the analysis. It is verified that under the control of PID algorithm, the acceleration of the robot can be in a stable state finally, which ensures the robot is stable in the process of motion. Finally, we finished experiments of the robot and verified the robot is stable when it works on walls.
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Zhanfan Zhou, Yu Yan, Yi Xiao, Neng Li, You Li, Wei Deng, and Yisheng Yu "Research on a magnetic adsorption omnidirectional motion robot system", Proc. SPIE 12331, International Conference on Mechanisms and Robotics (ICMAR 2022), 123312H (10 November 2022); https://doi.org/10.1117/12.2652989
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KEYWORDS
Magnetism
Adsorption
Control systems
Robotic systems
Motion analysis
Control systems design
Kinematics
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