Title :
Analysis on Turning Stress States of Magnetic Sucking Mechanism Unit of a Large Load Wall Climbing Robot
Author :
Yi Zhengyao ; Gong Yongjun ; Wang Zuwen ; Wang Xingru ; Xu Jie
Author_Institution :
Inst. of Shipping Electromech. Equip., Dalian Maritime Univ., Dalian, China
Abstract :
A rust removal cleanout auto-wall climbing robot has been developed, which works with heavy weight of robot body and load. The robot marching and turning experiments about the magnetic sucking mechanism unit are mentioned, and the destruction test of magnetic sucking mechanism unit is described. According to sliding friction properties and the phenomenon of test, the marching model and turning model are established, and the destruction characteristics are analyzed. Combining the analysis of turning model and the stress analysis, the bracket structure is optimized. The results of turning stress analysis and experiments show that the optimized structure of magnetic sucking mechanism unit is reasonable, and the robot marches and turns well.
Keywords :
corrosion protection; industrial robots; mobile robots; sliding friction; stress analysis; bracket structure; large load wall climbing robot; magnetic sucking mechanism unit; marching model; rust removal cleanout auto-wall climbing robot; sliding friction; turning model; turning stress analysis; Climbing robots; Crawlers; Magnetic analysis; Permanent magnet motors; Permanent magnets; Pipelines; Stress; Testing; Turning; Water conservation; Magnetic sucking mechanism unit; Marching and turning model; Optimized structure; Stress analysis; Wall-climbing robot;
Conference_Titel :
Measuring Technology and Mechatronics Automation (ICMTMA), 2010 International Conference on
Conference_Location :
Changsha City
Print_ISBN :
978-1-4244-5001-5
Electronic_ISBN :
978-1-4244-5739-7
DOI :
10.1109/ICMTMA.2010.642
