Affiliations: [a] Department of Mechanical Engineering, Kyung Hee
University, Republic of Korea | [b] Department of Mechanical Engineering, Yonsei
University, Seoul, Republic of Korea
Abstract: A crawling robot with a magnetic binder called CROMAB is developed
and the finite element magnetic analysis and the speed control system of the
robot are studied. CROMAB is designed to be used on the slopped surface and to
perform pipe-cutting, welding, or similar process onto the work-surface. The
robot binds itself to the magnetic-permeable surface using magnetic force and
autonomously travels along the work-path. In the current research, the
particular application of pipe-cutting process is considered. A repetitive
learning controller is designed and implemented to maintain a constant velocity
and consistent cutting performance by compensating the varying gravitational
effect caused by the position change of the robot and the nonlinear
disturbances caused by mechanical defects of the robot. An accelerometer-based
angular displacement estimation system is developed and implemented for the
improved control performance.The magnetic binding system is analyzed by using
an finite element analysis tool. The numerical analysis of the magnetic system
and the experimental results of the control system verify the effectiveness of
CROMAB.
Keywords: Crawling robot, magnetic binder, magnetic analysis, speed control, angular position estimation
