Design, Analysis, and Control of a Multilink Magnetic Wheeled Pipeline Robot
نویسندگان
چکیده
This paper presents a multi-link magnetic wheeled pipeline robot (PR-I), which is flexible and modular robotic mechanism. It designed for inspection, cleaning or disinfection of central air conditioning ventilation duct. PR-I can adapt to complex terrain, move in the ducts freely. A novel wheel proposed wall climbing, circumferentially embedded with rectangular permanent magnets. Firstly, climbing model established obtain adsorption conditions, then effects magnetizing direction magnets, thickness gap on force are analyzed by finite element method. Finally, optimal structure obtained through dynamic simulation analysis. The motion control carried out an system. Two fuzzy controllers based ranging sensor IMU straight turning motion, gait sequences obstacle surmounting. performance was evaluated real experimental results show that has good trafficability various terrains.
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ژورنال
عنوان ژورنال: IEEE Access
سال: 2022
ISSN: ['2169-3536']
DOI: https://doi.org/10.1109/access.2022.3185048