RAIL-GUIDED MAGNETIC ADHESION FOR SLIPPAGE MITIGATION IN WALL-CLIMBING ROBOTS

Josephine Jovinus Didas; Li Rui

Didas Josephine Jovinus School of Automation, Chongqing University of Posts and Telecommunication, Chongqing 400065, China
LiRui Industry-University-Research Cooperation Office, Chongqing University of Posts and Telecommunications, Chongqing 400065, China

Abstract

Wall-climbing robots have a great deal of potential for checking, repairing and guarding vertical and inverted areas. Mostly of these robots faced challenges in slippage, mainly when they go over uneven or inclined walls. A new method is offered in this paper that combines rail tracking, magnetic adhesion of wheels and supporting inner tires to make sure wall climbing robots do not slip. The arrangement of joints makes it possible for the wheels to remain stable, have a better grip and make adjustments for carrying weight. There is a two-layered mechanism in the methodology where outer magnetic wheels stick to the steel rails while inner wheels are kept in the center and have constant contact by springs. Motor movement is controlled by a microcontroller and use Bluetooth to control the car remotely. Adhesion force, traction torque, relevant slippage measures and the required power were studied using different mathematical models. The models used to describe load balance, magnetic attraction and the movement of the plate during loading were all checked by running simulations in MATLAB, Solidworks and ANSYS. The prototype was constructed using fiber-reinforced plastic for car body, wheels which have permanent magnets and was tried out on surfaces that were horizontal, inclined and vertical. Results showed increased stability while moving horizontally and vertically, fewer accidents due to slipping and good load support. Rail-track designs offer a better, simpler and stronger way compared to adhesion approaches like suction and bio-adhesive systems. This research provides a useful way of moving in robotics that joins theory, making and usefulness in the real world

Keywords: Wall-climbing robot, rail-track guidance, magnetic adhesion, slippage mitigation, spring suspension, mobile robotics

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