MAGNETIC WHEELED ROBOT WITH HIGH MOBILITY BUT ONLY 2 DOF TO CONTROL

WOLFGANG FISCHER, FABIEN TÂCHE, GILLES CAPRARI, ROLAND SIEGWART
2008 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. The
more » ... concludes with an outlook on further design improvements and shows possible scenarios for its industrial application in the field of power plant inspection.
doi:10.1142/9789812835772_0039 fatcat:4l353qgf3jeubmmbna4cgrp5ta