{"title":"磁压力垫检测机器人的建模","authors":"K. Kurc, A. Burghardt, D. Szybicki, J. Giergiel","doi":"10.2478/mme-2019-0007","DOIUrl":null,"url":null,"abstract":"Abstract This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing process brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.","PeriodicalId":53557,"journal":{"name":"Mechanics and Mechanical Engineering","volume":"23 1","pages":"50 - 58"},"PeriodicalIF":0.0000,"publicationDate":"2019-06-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":"{\"title\":\"Modeling the inspection robot with magnetic pressure pad\",\"authors\":\"K. Kurc, A. Burghardt, D. Szybicki, J. Giergiel\",\"doi\":\"10.2478/mme-2019-0007\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Abstract This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing process brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.\",\"PeriodicalId\":53557,\"journal\":{\"name\":\"Mechanics and Mechanical Engineering\",\"volume\":\"23 1\",\"pages\":\"50 - 58\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2019-06-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"0\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Mechanics and Mechanical Engineering\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.2478/mme-2019-0007\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"Q3\",\"JCRName\":\"Engineering\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Mechanics and Mechanical Engineering","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.2478/mme-2019-0007","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"Engineering","Score":null,"Total":0}
Modeling the inspection robot with magnetic pressure pad
Abstract This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing process brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.
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