A SIMPLE MODELING METHOD AND TRAJECTORY PLANNING FOR A CAR-LIKE CLIMBING ROBOT USED TO STRIP COATING FROM THE OUTER SURFACE OF PIPES UNDERWATER

2015 ◽  
Author(s):  
HANSONG WANG ◽  
CANJUN YANG ◽  
XUELEI DENG ◽  
JINCHANG FAN
Keyword(s):  
Trajectory Planning ◽  
Outer Surface ◽  
Modeling Method ◽  
Climbing Robot ◽  
Simple Modeling

Gait Design and Foot Trajectory Planning for a Wall-Climbing Robot with Spiny Toes

2021 ◽  
pp. 825-835
Author(s):  
Shuyuan Shi ◽  
Shengchang Fang ◽  
Xuan Wu ◽  
Xiaojie Wang
Keyword(s):  
Trajectory Planning ◽  
Climbing Robot ◽  
Foot Trajectory

scholarly journals APPLICATION OF SIMPLE MODELING METHOD TO RETAINING WALL WITH ELASTO-PLASTIC PROPERTY

2016 ◽  
Vol 81 (730) ◽  
pp. 1993-2003
Author(s):  
Tetsushi INUBUSHI ◽  
Yuji MIYAMOTO ◽  
Takahisa ENOMOTO ◽  
Tadamichi YAMASHITA
Keyword(s):  
Retaining Wall ◽  
Plastic Property ◽  
Modeling Method ◽  
Simple Modeling

scholarly journals Study for a Wall-Climbing Robot Magnetic Attraction Force of An Electronically Controlled Permanent Magnet

CONVERTER ◽  
2021 ◽  
pp. 119-132
Author(s):  
Xin Chen, Wuwei Feng, Yulian Zhang, Minglei Li, Shifei Wu
Keyword(s):  
Permanent Magnet ◽  
Outer Surface ◽  
Magnetic Force ◽  
Pulse Current ◽  
Resistance Force ◽  
Climbing Robot ◽  
Attraction Force ◽  
Magnetic Attraction ◽  
Magnetizing Force ◽  
Magnetic Adsorption

With the advancement in science and technology, a wall-climbing robot attached to the ship's outer surface is increasingly replacing humans in the rust removal. The magnetic force is not just the adsorption force but also the moving resistance force, which is currently the technological bottleneck in wall-climbing robotics based on magnetic adsorption. This paper proposes a novel wall-climbing robot based on electrically controlled permanent magnet technology to solve this problem. An electrically controlled permanent magnetic wall-climbing robot is proposed to realize the function of magnetization and demagnetization by changing the pulse current. The results of the experiments reveal that the magnetizing force is adequately adsorbed on the ship's outer surface. The magnetic attraction force is close to 0 N during demagnetization, meaning that the system is fully unloaded, as predicted by the theoretical analysis.

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