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Design of novel adaptive magnetic adhesion mechanism for climbing robots in ferric structures

Ochoa Cardenas, Francisco (2016) Design of novel adaptive magnetic adhesion mechanism for climbing robots in ferric structures. PhD thesis, University of Sheffield.

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The work presented in this thesis proposes a novel adaptive magnetic adhesion mechanism that can be implemented in most locomotion mechanisms employed in climbing robots for ferric structures. This novel mechanism has the capability to switch OFF and ON its magnetic adhesion with minimal power consumption, and remain at either state after the excitation is removed. Furthermore, the proposed adhesion mechanism has the ability to adapt the strength of the adhesive force to a desired magnitude. These capabilities make the proposed adhesion mechanism a potential solution in the field of wall climbing robots. The novel contributions of the proposed mechanism include the switching of the adhesive force, selectivity of the adhesive force magnitude; determination of the parameters that have an impact in the final adhesive force. Finally, a final prototype is constructed with customised components and it is subject to a set of simulations and experiments to validate its performance.

Item Type: Thesis (PhD)
Keywords: Electro-Permanent Magnets, Climbing Robots, Magnetic Adhesion Mechanism
Academic Units: The University of Sheffield > Faculty of Engineering (Sheffield) > Automatic Control and Systems Engineering (Sheffield)
Identification Number/EthosID: uk.bl.ethos.713265
Depositing User: Francisco Ochoa Cardenas
Date Deposited: 15 May 2017 08:02
Last Modified: 12 Oct 2018 09:38
URI: http://etheses.whiterose.ac.uk/id/eprint/16903

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