Abstract
In the pneumatic caisson method, there is a risk of decompression sickness when leaving the high-pressure environment of the work chamber. Therefore, in this study, we considered the development of an adhesive device for the development of robots that can replace people in the work chamber. First, we examined the necessary robot functions and movement methods. Next, we experimentally investigated the existing adhesion methods and a previously developed small internally balanced (IB) magnet and present the good results obtained. Finally, we will introduce the experiment to evaluate the adhesive force vs. distance of the small IB magnet and the collective adhesion device using them.
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