Back to Search Start Over

Suitable Method for Improving Friction Performance of Magnetic Wheels with Metal Yokes

Authors :
Masaru Tanida
Kosuke Ono
Takehiro Shiba
Yogo Takada
Source :
Robotics, Vol 13, Iss 10, p 151 (2024)
Publication Year :
2024
Publisher :
MDPI AG, 2024.

Abstract

A magnetic-wheeled robot is a type of robot that inspects large steel structures instead of humans, and it can run on a three-dimensional path by using wheels with built-in permanent magnets. For the robots to work safely, their magnetic wheels require both magnetic attractive forces and friction forces. Planetary-geared magnetic wheels, which we have developed, make direct contact with their yokes on the running surface to ensure their magnetic attractive force. However, this design decreases their frictional performance more than common magnetic wheels covered with soft materials. Therefore, the yokes require methods that can improve their frictional performance without decreasing their attractive force. To consider the best method for the use of magnetic wheels, this study has run experiments with five types of yokes, which have different processing. As a result, the yokes with corroded surfaces could have maintained the attractive force more than 90% of the time and increased their traction forces by about 36% in static conditions and about 30% in dynamic conditions compared to yokes with no machining. The main reasons for these experimental results are that the rust layer has stable irregularities on the surface and includes ferromagnetic materials.

Details

Language :
English
ISSN :
22186581
Volume :
13
Issue :
10
Database :
Directory of Open Access Journals
Journal :
Robotics
Publication Type :
Academic Journal
Accession number :
edsdoj.553befba519d46d28e434d25e7d31c10
Document Type :
article
Full Text :
https://doi.org/10.3390/robotics13100151