3 accepted papers
This article presents an inchworm climbing robot that is designed with switchable magnets and a single DOF arm. The InchwormClimber works on ferromagnetic structures and consumes little energy when climbing and can descend safely with almost zero energy consumption. Furthermore, considering the crit…
Omnidirectional wheels used on Omniclimber inspection robot and in other robots enable a holonomic drive and a good maneuverability. On the other hand, they have a poor wheel traction and suffer from vertical and horizontal vibration, decreasing the trajectory following accuracy of the robot. In thi…
The goal of this work is to study the application of switchable magnets (SM) for climbing robots. A switchable magnet is a device which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. In our work we used Comsol Multiphysics, a physic…