Development of a Wheeled Wall-Climbing Robot with a Shape-Adaptive Magnetic Adhesion Mechanism
Haruhiko Eto,H. Harry Asada,Haruhiko Eto,H. Harry Asada
This paper presents a wheeled wall-climbing robot with a shape-adaptive magnetic adhesion mechanism for large steel structures. To travel up and down various curved ferromagnetic surfaces, we developed a 2 DOF rotational magnetic adhesion mechanism installed on each wheel that can change the orientation of the magnets to keep the magnetic force direction always normal to the contact surface. These...
