Modeling the inspection robot with magnetic pressure pad-Reference-Cited by-同舟云学术

Modeling the inspection robot with magnetic pressure pad

Published:2019-06-01 Issue:1 Volume:23 Page:50-58
ISSN:2354-0192
Container-title:Mechanics and Mechanical Engineering
language:en
Short-container-title:

Author:

Kurc Krzysztof¹,Burghardt Andrzej¹,Szybicki Dariusz¹,Giergiel Józef²

Affiliation:

1. Rzeszow University of Technology , Faculty of Mechanical Engineering and Aeronautics , Rzeszów , Poland

2. Institute of Technology , State University of Applied Sciences in Nowy Sącz , Nowy Sącz , Poland

Abstract

Abstract This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing process brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.

Publisher

Walter de Gruyter GmbH

Subject

General Medicine

Link

https://www.sciendo.com/pdf/10.2478/mme-2019-0007

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