Abstract
The article presents a mobile robot for climbing on vertical ferromagnetic surfaces. The robot was designed with hybrid omnidirectional rubber/silicone roller wheels for proper asymmetric friction force generation and a controllable electromagnet for ferromagnetic surface adhesion. The friction force of rubber and silicone rollers and the adhesion force of the electromagnet were investigated. An embedded electronic system with a mobile processor was installed on the robot to allow for remote control. Our results show versatile robot climbing on a ferromagnetic wall with omnidirectional motion and a lower adhesion force-to-weight ratio as compared to that of the others.
Kanut Tarapongnivat, Run Janna, Worameth Nantareekurn—Contributed equally.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Begey, J., Cuvillon, L., Lesellier, M., Gouttefarde, M., Gangloff, J.: Dynamic control of parallel robots driven by flexible cables and actuated by position-controlled winches. IEEE Trans. Rob. 35(1), 286–293 (2018)
Bu, Y., Bu, Y., Li, H., Mao, S., Zhu, H.: Development of wheel-leg hybrid climbing robot with switchable permanent magnetic omni-wheels as feet. In: 2022 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp 1–6. IEEE (2022)
Fang, G., Cheng, J.: Advances in climbing robots for vertical structures in the past decade: a review. Biomimetics 8(1), 47 (2023)
Guan, Y., Jiang, L., Zhu, H., Wu, W., Zhou, X., Zhang, H., Zhang, X.: Climbot: a bio-inspired modular biped climbing robot-system development, climbing gaits, and experiments. J. Mech. Robot. 8(2) (2016)
Liu, Y., Wang, L., Niu, F., Li, P., Li, Y., Mei, T.: A track-type inverted climbing robot with bio-inspired spiny grippers. J. Bionic Eng. 17, 920–931 (2020)
Lynch, K.M., Park, F.C.: Modern Robotics. Cambridge University Press (2017)
Moreira, J., Soares, I.N., Lima, J., Pinto, V.H., Costa, P.: Hybrid legged-wheeled robotic platforms: survey on existing solutions. In: Climbing and Walking Robots Conference, pp. 140–151. Springer (2022)
Tavakoli, M., Viegas, C.: Analysis and application of dual-row omnidirectional wheels for climbing robots. Mechatronics 24(5), 436–448 (2014)
Tavakoli, M., Marques, L., de Almeida, A.T.: Omniclimber: an omnidirectional light weight climbing robot with flexibility to adapt to non-flat surfaces. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp 280–285. IEEE (2012)
Tavakoli, M., Viegas, C., Marques, L., Pires, J.N., De Almeida, A.T.: Omniclimbers: omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures. Robot. Auton. Syst. 61(9), 997–1007 (2013)
Tavakoli, M., Lourenco, J., Viegas, C., Neto, P., de Almeida, A.T.: The hybrid omniclimber robot: wheel based climbing, arm based plane transition, and switchable magnet adhesion. Mechatronics 36, 136–146 (2016)
Ward, P., Manamperi, P., Brooks, P., Mann, P., Kaluarachchi, W., Matkovic, L., Paul, G., Yang, C., Quin, P., Pagano, D., et al.: Climbing robot for steel bridge inspection: design challenges. In: Austroads Bridge Conference, ARRB Group (2014)
Acknowledgment
This work was supported by the PTT Exploration and Production Public Co. Ltd. under the HERO project and Vidyasirimedhi Institute of Science and Technology.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Tarapongnivat, K. et al. (2024). Hybrid Omnidirectional Wheeled Climbing Robot with an Electromagnet for Inspection. In: Youssef, E.S.E., Tokhi, M.O., Silva, M.F., Rincon, L.M. (eds) Synergetic Cooperation Between Robots and Humans. CLAWAR 2023. Lecture Notes in Networks and Systems, vol 810. Springer, Cham. https://doi.org/10.1007/978-3-031-47269-5_10
Download citation
DOI: https://doi.org/10.1007/978-3-031-47269-5_10
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-031-47268-8
Online ISBN: 978-3-031-47269-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)