Design of compact switchable magnetic grippers for the HyReCRo structure-climbing robot
Mechatronics(2019)
摘要
•Presents the design and development of novel magnetic grippers for a climbing robot.•Zero Moment Point and friction analyses are applied to avoid detachment and slippage.•Each gripper uses three switchable magnets and offers a holding force of 33 kg.•Each gripper carries removable rubber pads to increase tolerance to slippage.•Stable adhesion to steel vertical surfaces is demonstrated in worst-case scenarios.
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关键词
Climbing robots,Switchable magnets,Steel structures,Static friction,Zero Moment Point
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