novtexmechМехатроника, автоматизация, управлениеMekhatronika, Avtomatizatsiya, Upravlenie1684-64272619-1253Commercial Publisher «New Technologies»10.17587/mau.21.158-166novtexmech-767Research ArticleРОБОТЫ, МЕХАТРОНИКА И РОБОТОТЕХНИЧЕСКИЕ СИСТЕМЫROBOT, MECHATRONICS AND ROBOTIC SYSTEMSМеханизм вертикального перемещения мобильного гусеничного робота с гибридным магнитно-ленточным принципом сцепленияA Locomotion Mechanism for a Mobile Wall-Climbing Robot with a Hybrid Magnetic-Tape Adhesion MethodБыковН. В.BykovN. V.

канд. техн. наук, доц., зав. отделом

г. Москва

Ph. D., Associate Professor, Chief of Department

105005, Moscow

bykov@bmstu.ruВласоваН. С.VlasovaN. S.

ст. преподаватель

г. Москва

105005, Moscow

vlasovans@bmstu.ruГубановМ. Ю.GubanovM. Yu.

инженер

г. Москва

105005, Moscow

max.g.bmstu@gmail.comЛапинД. В.LapinD. V.

ассистент

г. Москва

105005, Moscow

lapin.sm6@gmail.comМосковский государственный технический университет имени Н. Э. Баумана,РоссияBauman Moscow State Technical UniversityRussian Federation202005032020213158165Copyright © Commercial Publisher «New Technologies», 20202020Commercial Publisher «New Technologies»Commercial Publisher «New Technologies»https://mech.novtex.ru/jour/about/submissions#copyrightNoticehttps://mech.novtex.ru/jour/article/view/767

Предложен новый гибридный пассивный принцип сцепления мобильного робота вертикального перемещения с рабочей поверхностью, основанный на сочетании магнитной и клеевой адгезии. Для реализации указанного принципа используется металлическая лента с клеевым слоем на одной из сторон для закрепления ленты на поверхности. Адгезия робота к ленте осуществляется с помощью пассивных магнитов, размещенных в его гусеничных траках. Проведены экспериментальные исследования принципа магнитного сцепления для определения удерживающей силы робота на рабочей поверхности. Экспериментально показана возможность функционирования предложенного механизма перемещения. Предложенный гибридный способ позволяет роботу перемещаться в закрытых помещениях по вертикальным поверхностям разного типа.

In the present study, a new hybrid passive adhesion method for a mobile wall-climbing robot (WCR) is proposed. This method is based on a combination of magnetic and glue adhesion. For its implementation, a flexible magnetic tape with glue on one side is used to fasten the tape to the working surface. Holding and climbing of the WCR on the magnetic tape, fixed by the robot in the process of movement, occurs with the help of the tracked locomotion mechanism. Permanent magnets are placed in the tracks of the WCR interacting with the tape as the robot climbs along a vertical surface. The concept of the adhesion and locomotion mechanisms, as well as the design of the WCR prototype is developed. Experimental studies of the magnetic properties of the proposed locomotion mechanism have been carried out. They showed its feasibility and efficiency. Also from experimental studies were obtained quantitative characteristics of the interaction of the WCR with tape, used in the construction of its mathematical model. A feature of this WCR concept, working on the magnetic-tape adhesion, is the possibility of moving it without using magnetic tape on ho rizontal surfaces, as well as on vertical ferromagnetic surfaces — only with tracks with permanent magnets. The WCR with a hybrid magnetic-tape adhesion mechanism is designed to move on various surfaces indoor spaces.

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The authors declare that there are no conflicts of interest present.