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Necessary Conditions for Running through a Flange by Using Planetary-Geared Magnetic Wheels
- Source :
- Robotics, Vol 13, Iss 5, p 72 (2024)
- Publication Year :
- 2024
- Publisher :
- MDPI AG, 2024.
-
Abstract
- To discuss and consider the necessary conditions for magnetic-wheeled robots with planetary-geared magnetic wheels, this paper provides comparing static calculations about three orientations in running a flange with real experiments. SCPREM-I, a magnetic-wheeled robot, was developed for running through a flange from the bottom to the top. This robot has four magnetic wheels with a built-in planetary gearset. In experiments, however, the robot sometimes fails to run through a flange in three orientations. In this study, we statically analyze SCPREM-I to find the conditions necessary for running through the flange. We calculate the forces around the front and rear wheels in the three orientations. As a result, it has been found that the chassis of the SCPREM-I applies a forward force to the wheels when it runs through the flange. In addition, it has been found that the normal force of the A-Legs is balancing with the driving force of the wheels when the SCPREM-I fails to run through the flange.
Details
- Language :
- English
- ISSN :
- 22186581
- Volume :
- 13
- Issue :
- 5
- Database :
- Directory of Open Access Journals
- Journal :
- Robotics
- Publication Type :
- Academic Journal
- Accession number :
- edsdoj.74285994359945d1957d52e8cbfa82d8
- Document Type :
- article
- Full Text :
- https://doi.org/10.3390/robotics13050072