대한조선학회논문집 (Journal of the Society of Naval Architects of Korea)

  • 제47권1호
  • /
  • Pages.88-92
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  • 2010
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  • 1225-1143(pISSN)
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  • 2287-7355(eISSN)
대한조선학회 (The Society of Naval Architects of Korea)
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벽면이동 로봇용 하이브리드 자석바퀴 3차원 유한요소해석 및 설계

Design of Hybrid Magnet Wheels using 3D Finite Element Analysis for Wall-climbing Robot

  • Han, Seung-Chul (Department of Automobile, Yeungnam College of Science & Technology) ;
  • Lee, Jae-Yong (School of Mechanical Engineering, Yeungnam University) ;
  • Kim, Jin-Ho (School of Mechanical Engineering, Yeungnam University)
  • 발행 : 2010.02.20
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초록

We propose a new design of the hybrid-magnet wheel to make it possible for a mobile robot to be attached to the vertical plane and be in motion. In the new suggested design, a permanent magnet is utilized to enhance the adhesive force, while an electromagnet is adopted to reduce the magnetic field and the adhesive force for detaching easily. To analysis the performance of the robot, 3 dimensional finite element analysis is executed using commercial electromagnetic analysis program, Maxwell. The results show that the adhesive force is reduced effectively by the electromagnet in the new designed robot system.

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참고문헌

  1. Bahr, B., Li, Y. and Najafi, M., 1996, "Design and Suction CPU Analysis of a Wall Climbing Robot," Computer Elect. Eng., Vol. 22, No. 3,pp. 193-209. https://doi.org/10.1016/0045-7906(95)00039-9
  2. Han, S.C. Lee, H.C. and Lee, J., 2002, "A Study on a Detachment of a Permanent Magnet Wheel for a Wall-Climbing Mobile Robot using Magnetic Inducement," Journal of the Korean Society of Precision Engineering, Vol. 19, No.1, pp. 143-149.
  3. Lee, J., Choi, Y. and Kim, J., 1996, "Positioning of a Mobile Robot for Reactor Vessel Inspection," The Fourth International Conference on Control. Automation, Robotics and Vision, Vol. 2, pp. 878-882.
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  6. Ryu S.W., Lee J.C., Kim H.G. and Kim S.H., 2006, "Development of a Wall-climbing Welding Robot for Draft Mark on the Curved Surface," Special Issue of the Society of Naval Architects of Korea, pp. 112-121.