Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot
Mobile robots that are required to climb inclined ferromagnetic surfaces typically employ magnetic wheels. In order to design magnetic wheels and to properly size the permanent magnet as magnetizing source without the need for finite element analyses, a model that predicts the attractive magnetic fo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-08-01
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| Series: | Actuators |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2076-0825/9/3/67 |
| _version_ | 1827710833177657344 |
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| author | Myounggyu Noh Eunsang Kwon So Hee Park Young-Woo Park |
| author_facet | Myounggyu Noh Eunsang Kwon So Hee Park Young-Woo Park |
| author_sort | Myounggyu Noh |
| collection | DOAJ |
| description | Mobile robots that are required to climb inclined ferromagnetic surfaces typically employ magnetic wheels. In order to design magnetic wheels and to properly size the permanent magnet as magnetizing source without the need for finite element analyses, a model that predicts the attractive magnetic force is necessary. In this paper, an analytical force model is derived by estimating the reluctance between the wheel and the surface. A magnetic circuit is constructed, incorporating the leakage flux from the side of the wheel. The model is validated against the results from finite element analyses and measurements from a test rig and a wheel prototype. Within the limitations of the model, it can adequately predict the force and can be used for initial design of magnetic wheels. |
| first_indexed | 2024-03-10T17:44:20Z |
| format | Article |
| id | doaj.art-dd782c3ab1ad41f3987002d482e8cdff |
| institution | Directory Open Access Journal |
| issn | 2076-0825 |
| language | English |
| last_indexed | 2024-03-10T17:44:20Z |
| publishDate | 2020-08-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj.art-dd782c3ab1ad41f3987002d482e8cdff2023-11-20T09:36:06ZengMDPI AGActuators2076-08252020-08-01936710.3390/act9030067Modeling of Attractive Force by Magnetic Wheel Used for Mobile RobotMyounggyu Noh0Eunsang Kwon1So Hee Park2Young-Woo Park3Department of Mechatronics, Chungnam National University, Daejeon 34134, KoreaDepartment of Mechatronics, Chungnam National University, Daejeon 34134, KoreaDepartment of Mechatronics, Chungnam National University, Daejeon 34134, KoreaDepartment of Mechatronics, Chungnam National University, Daejeon 34134, KoreaMobile robots that are required to climb inclined ferromagnetic surfaces typically employ magnetic wheels. In order to design magnetic wheels and to properly size the permanent magnet as magnetizing source without the need for finite element analyses, a model that predicts the attractive magnetic force is necessary. In this paper, an analytical force model is derived by estimating the reluctance between the wheel and the surface. A magnetic circuit is constructed, incorporating the leakage flux from the side of the wheel. The model is validated against the results from finite element analyses and measurements from a test rig and a wheel prototype. Within the limitations of the model, it can adequately predict the force and can be used for initial design of magnetic wheels.https://www.mdpi.com/2076-0825/9/3/67magnetic wheelforce modelmagnetic circuitreluctance modelmobile robots |
| spellingShingle | Myounggyu Noh Eunsang Kwon So Hee Park Young-Woo Park Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot Actuators magnetic wheel force model magnetic circuit reluctance model mobile robots |
| title | Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot |
| title_full | Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot |
| title_fullStr | Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot |
| title_full_unstemmed | Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot |
| title_short | Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot |
| title_sort | modeling of attractive force by magnetic wheel used for mobile robot |
| topic | magnetic wheel force model magnetic circuit reluctance model mobile robots |
| url | https://www.mdpi.com/2076-0825/9/3/67 |
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