Electromagnetic worm-like locomotion system for in-pipe robots: novel design of magnetic subsystem

Abstract

Abstract This paper describes a magnetic subsystem of an electromagnetic worm-like locomotion system (WLLS) with coupled electromagnets. WLLS simple-design consists of two elastically connected ring-like segments that form two magnetically coupled electromagnetic actuators. The actuators generate longitudinal and transverse displacements which lead to locomotion due to synchronized changes of inertial, normal pressure, and friction forces. In present paper, analysis of the magnetic circuit of the WLLS had been performed. From symmetry and general consideration of magnetic system effectiveness, a novel design of the coupled magnetic circuits had been developed. The novel WLLS has two-force component electromagnetic actuators that produce the transverse and longitudinal forces. The novel design of the electromagnetic WLLS is able to move an in-pipe robots and should have better specific pulling force.