Permanent Magnet Absorbed Repairing End Effector for Wall-climbing Robot

DOI

10.2991/eame-15.2015.28How to use a DOI?

Keywords

end effector; wall-climbing robot; all-position operation; magnetic adsorption; complex curved surface

Abstract

In order to fulfil all-position amending of weld seam with wall-climbing robot, a permanent magnet adsorbed repairing end effector (REE) is developed. Cutting tool is installed in atwo-dimensional (2D) cutting force mode to decrease the driving force ofthemanipulator. A permanent magnet adsorption supporting apparatus (PMASA) is specially designed, so as to achieve reliable adsorption and flexible movement on complex curved surface. Both lifting and rotatingofthecutting tool are realized separately. The end effector is 274 mm×240 mm in sizeand less than 10 kg in weight. Integrated withawall-climbing robot, the REEcouldperform all-position repairing works on the complex curved surface of steel structures, whose curvature radius is above 1.5 m.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Z.W. Cui
AU  - Z.G. Sun
AU  - W.Z. Zhang
AU  - Q. Chen
PY  - 2015/07
DA  - 2015/07
TI  - Permanent Magnet Absorbed Repairing End Effector for Wall-climbing Robot
BT  - Proceedings of the 2015 International Conference on Electrical, Automation and Mechanical Engineering
PB  - Atlantis Press
SP  - 105
EP  - 108
SN  - 2352-5401
UR  - https://doi.org/10.2991/eame-15.2015.28
DO  - 10.2991/eame-15.2015.28
ID  - Cui2015/07
ER  -