Modeling the inspection robot with magnetic pressure pad

• Autorzy: Kurc Krzysztof , Burghardt Andrzej , Szybicki Dariusz , Giergiel Józef

Identyfikatory

DOI

10.2478/mme-2019-0007

• Języki publikacji: EN

Abstrakty

EN

This article presents the process of designing a robot with a magnetic pressure pad for inspections of ferromagnetic ventilation ducts. In compliance with the assumptions, the CAD design of the robot was developed in a 3D programming environment. The designing proces brought about a mathematical model of the robot with one pair of magnetic drive modules, including simulation in a MATLAB/Simulink environment. The model accounted for parameters such as rolling resistance force, transverse resistance moment, magnetic attraction force, solid moment of inertia, and other factors. The magnetic pressure pad allowed for moving the robot in magnetic ventilation systems irrespective of slopes and shapes of ducts.

Słowa kluczowe

EN

mechatronics; kinematics; dynamics; magnetic; inspection robot

PL

mechatronika; kinematyka; dynamika; robot inspekcyjny

• Wydawca: Wydawnictwo Politechniki Łódzkiej
• Czasopismo: Mechanics and Mechanical Engineering
• Rocznik: 2019
• Tom: Vol. 23, nr 1
• Strony: 50--58
• Opis fizyczny: Bibliogr. 29 poz., il. kolor., 1 fot., rys., wykr.

Twórcy

autor

Kurc Krzysztof

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics

autor

Burghardt Andrzej

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics

autor

Szybicki Dariusz

• Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics

autor

Giergiel Józef

• Institute of Technology, State University of Applied Sciences in Nowy Sącz

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Uwagi

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2019).