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

Volume

1

fYear

2010

fDate

13-14 March 2010

Firstpage

570

Lastpage

573

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/ICMTMA.2010.642

Filename

5459046