Abstract
The mobile robots which can move on complicated working surfaces play a significant role in the automation of various technological processes, in particular, ship repair, fire fighting, inspection of welding quality, rescue operations, etc. This work is a continuation of the authors’ investigation of the mobile robot’s moving on inclined and vertical ferromagnetic surfaces based on a magnetically operated wheel-mover. Special attention is paid to constructing magnetically operated wheel-mover with twelve legs and modeling of the robot’s wheel-mover behavior in different working modes including investigations of the wheel-mover center trajectory, behavior of control signals, etc. Geometrical dependences between a number of wheel-mover legs and deviation of the wheel center path from horizontal line are described. In the present article the modeling results for movement of the wheel-mover on both plain and non-plain surfaces are discussed. For this purpose, the mathematical model of the wheel-mover was created and analyzed and the results were verified using a simulation approach.
Highlights
Automation and information technologies correlate with production, culture, sport, life science [1] and have very great prospects in different fields of human activity [1, 2]
Industrial robots and specialized robotic systems play a significant role in the automation of different industrial technological processes [2, 3] in manufacturing, even under various dynamic and uncertain conditions [3]
As the mobile robots (MR) can be used in shipbuilding and ship repair, it makes sense to use magnetically operated principles and devices [19, 20] in particular, magnetically operated plates and clamping devices
Summary
Automation and information technologies correlate with production, culture, sport, life science [1] and have very great prospects in different fields of human activity [1, 2]. Industrial robots and specialized robotic systems play a significant role in the automation of different industrial technological processes [2, 3] in manufacturing, even under various dynamic and uncertain conditions [3]. The tasks and missions of robotic systems define their construction peculiarities and the diversity of their types [2, 7, 8]. In various industrial branches such as shipbuilding, processing (cleaning, mounting of dowels and explosive devices, firefighting, dyeing, inspection and diagnostics, welding, cutting and polishing and desalination of the ship hulls) of large surfaces or in tight places, human life and health are at risk. The use of mobile robots (MR) increases the productivity as well as has a positive impact on the health of employees
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