Journal of Magnetics

The Korean Magnetics Society (한국자기학회)
권호 표지
DOI QR코드

DOI QR Code

Design and Experimental Implementation of Easily Detachable Permanent Magnet Reluctance Wheel for Wall-Climbing Mobile Robot

  • Kim, Jin-Ho (School of Mechanical Engineering, Yeungnam University) ;
  • Park, Se-Myung (School of Mechanical Engineering, Yeungnam University) ;
  • Kim, Je-Hoon (School of Mechanical Engineering, Yeungnam University) ;
  • Lee, Jae-Yong (School of Mechanical Engineering, Yeungnam University)
  • Received : 2010.05.31
  • Accepted : 2010.08.03
  • Published : 2010.09.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose a new design of the permanent magnet reluctance wheel which will make it possible to attach the robot to a vertical plane and move it. In the newly suggested design, a permanent magnet is utilized to enhance the adhesive force during attachment, and an electromagnet is produced to weaken the magnetic field of the permanent magnet and reduce the adhesive force for easier detachment of wheels from steel plates. To characterize the performance of this new wheel design, a 3-D finite element analysis is executed using a commercial FE program. The results show that the adhesive force is reduced effectively by the electromagnet which flows in the reverse direction of the magnetic loop of the permanent magnet when the current is supplied to the coil.

Keywords

References

  1. B. L. Luk, A. A. Collie, and J. Billingsley, Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, 2342 (1991).
  2. B. Bahr, Y. Li, and M. Najafi, Computer Elect. Eng. 22, 193 (1996). https://doi.org/10.1016/0045-7906(95)00039-9
  3. Y. Wang and S. Liu, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, Detroit, Michigan, 1207 (1999).
  4. A. Nishi, Computers Elect. Eng. 22, 123 (1996). https://doi.org/10.1016/0045-7906(95)00034-8
  5. S. Hirose, and H. Tsutsumitake, Proceedings of the 1992 IEEE/RSJ International Conference on Intelligent Robots and System, 2074 (1992).
  6. S. C. Han, J. H. Kim, and H. C. Yi, International Journal of Precision Engineering and Manufacturing 10, 143 (2009). https://doi.org/10.1007/s12541-009-0082-4

Cited by

  1. A New Type of Magnetic Actuator Capable of Wall-Climbing Movement Using Inertia Force vol.2014, pp.2314-4912, 2014, https://doi.org/10.1155/2014/903178
  2. A Novel Magnetic Actuator Capable of Free Movement on a Magnetic Substance vol.51, pp.11, 2015, https://doi.org/10.1109/TMAG.2015.2443061
  3. A Novel Actuator System Combining Mechanical Vibration and Magnetic Wheels Capable of Rotational Motion Using Shape Memory Alloy Coils vol.8, pp.1, 2019, https://doi.org/10.3390/act8010004