![]() ![]() It reports on various theoretical and practical features of machines, mechanisms and robotics the contributions include carefully selected, novel ideas on and approaches to design, analysis, prototype development, assessment and surveys. This book offers a collection of original peer-reviewed contributions presented at the 3rd International and 18th National Conference on Machines and Mechanisms (iNaCoMM), organized by Division of Remote Handling & Robotics, Bhabha Atomic Research Centre, Mumbai, India, from December 13th to 15th, 2017 (iNaCoMM 2017). It is found from the laboratory trials that based on these wheel mechanisms, the climbing robot can safely navigate remotely on even surface for these chosen structures. These developed wheel mechanisms have been further demonstrated using a four-wheel differential drive prototype-climbing robot for safe navigation testing first on a 2-D framed plane wall structure and next on a 3-D framed wall structure. The influence of both static and kinetic coefficient of friction (COF) for vertical surface locomotion of climbing robot has also been investigated. A comprehensive experimental study on the influence of rubber grip thickness, air gap, wheel tilt angle and test surface thickness variation on adhesion force of these developed wheel mechanisms have been reported. Thus, more payload carrying capacity climbing robot can be developed using these developed mechanisms for field trials of climbing robot. These wheel mechanisms are light in weight and more powerful to achieve maximum adhesion force i.e., 210 N and 251 N with and without rubber grip, respectively, at only 200 gm wheel weight as compared to previously reported permanent magnetic adhesion mechanism. Wheel 1 design is further improved by developing Wheel 2 and 3 versions by changing hub material from mild steel to Aluminum. However, the adhesion force of the prototype wheel is comparable with already reported permanent magnet based adhesion mechanism. The Wheel 1 mechanism with MS hub is very compact, simple in design with easy assemble/dissemble features, and having less manufacturing cost. Three types of wheel mechanism (Wheel 1, Wheel 2 and Wheel 3) are manufactured and compared for their working performance experimentally for climbing robot locomotion trials. This paper presents experimental studies on permanent magnet based wheel mechanism for safe navigation of climbing robot on ferrous wall surface structures. ![]() Finally, the robot prototype is developed based on the design and analysis work, and the experiment is conducted to verify the performance of the robot. Aiming at three typical states during obstacle-crossing, the geometric and force analysis is performed to establish the constraint equations for the robot, and then the simulation is carried out with the optimization calculating method to solve the geometric variables and external forces of the robot that can be used for the robot design work. ![]() On the basis of introducing the robot mechanism, the geometric definitions and descriptions that can present the robot configuration and position relative to the rope are established. Due to the ingenious finger-wheeled mechanism and the modular structure, the robot can achieve smooth and quick movement and good capability of obstacle-crossing on the rope and has a high adaptability for different rope environments. In this study, a modular rope-climbing robot with the finger-wheeled mechanism is proposed. The rope-climbing robot that can cling to a rope for locomotion has been a popular equipment for some inspection applications due to its high flexibility. ![]()
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