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MAGNETIC WHEELED ROBOT WITH HIGH MOBILITY BUT ONLY 2 DOF TO CONTROL
Advances in Mobile Robotics
In this paper, the mechanical design and calculation of a magnetic wheeled climbing robot is presented. It is able to pass obstacles that previously had only been accessed by robots with more complex mechanisms, but only needs 2 actively controlled DOF. A comparison to other design alternatives and the influence of some core parameters are shown in calculations with simplified 2D models. According to these calculations, a prototype was realized to prove its functionality in real tests. Thedoi:10.1142/9789812835772_0039 fatcat:4l353qgf3jeubmmbna4cgrp5ta