易拆卸式爬壁移动机器人永磁磁阻轮的设计与实验实现

Digests of the 2010 14th Biennial IEEE Conference on Electromagnetic Field Computation Pub Date : 2010-05-09 DOI:10.1109/CEFC.2010.5481094

Jin-ho Kim, Sang-shin Park, Se-Myung Park, Je-Hoon Kim, Jae-Yong Lee

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引用次数: 14

摘要

本文提出了一种永磁磁阻轮的新设计，使机器人能够附着在垂直平面上并进行运动。在新提出的设计中，利用PM来增强附着过程中的附着力，而引入电磁铁来减弱磁场，降低附着力，使车轮更容易脱离钢板。为了表征其性能，使用商业有限元程序进行了三维有限元分析。进行了实验测试，与分析结果进行了比较。结果表明，电磁铁能有效地降低粘接力。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Design and experimental implementation of easily detachable permanent magnet reluctance wheel for wall-climbing mobile robot

In this paper, we propose a new design of the permanent magnet(PM) reluctance wheel to make possible the robot to be attached to vertical plane and be in motion. In newly suggested design, PM is utilized to enhance the adhesive force during attachment, while electromagnet is introduced to weaken magnetic field and reduce the adhesive force for easier detachment of wheels from steel plates. To characterize the performance, 3-D finite element analysis is executed using commercial FE program. Experimental test is performed to compare with the result of the analysis. The results show that the adhesive force is reduced effectively by the electromagnet.

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Digests of the 2010 14th Biennial IEEE Conference on Electromagnetic Field Computation

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