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A controllably adhesive climbing robot using magnetorheological fluid
MIT.
University of Pisa, Pisa, Italy.
MIT.
2012 (Engelska)Ingår i: 2012 IEEE Conference on Technologies for Practical Robot Applications: TePRA 2012, Piscataway, N.J.: IEEE Press, 2012, s. 91-96Konferensbidrag, Publicerat paper (Refereegranskat)
Abstract [en]

The novel adhesive effects of magnetorheological fluid for use in climbing robotics were experimentally measured and compared to existing theoretical models. Contrary to these models, the fluid thickness between two parallel plates was found to have little effect on the adhesive failure strength and a positive effect on time to failure. Target surface roughness was found to have a detrimental effect on pull-off adhesion and a positive effect on shearing loads. A robot capable of adhering to ceilings was designed and shown to be capable of holding 7.3 kPa of adhesive stress in both shear on rough vertical surfaces and normal force on glass sheets, demonstrating a novel form of adhesion on a wide range of surface roughnesses and orientations. © 2012 IEEE.

Ort, förlag, år, upplaga, sidor
Piscataway, N.J.: IEEE Press, 2012. s. 91-96
Nyckelord [en]
Adhesives, Magnetic separation, Magnetomechanical effects, Robots, Rough surfaces, Stress, Surface roughness, adhesives, fluids, magnetorheology, mobile robots, surface roughness, adhesive effects, adhesive failure strength, adhesive stress, controllably adhesive climbing robot, fluid thickness, glass sheets, magnetorheological fluid, normal force, parallel plates, pressure 7.3 kPa, pull-off adhesion, rough vertical surfaces, shearing loads, surface orientations, target surface roughness
Nationell ämneskategori
Robotteknik och automation
Identifikatorer
URN: urn:nbn:se:hh:diva-20831DOI: 10.1109/TePRA.2012.6215660Scopus ID: 2-s2.0-84863676484ISBN: 978-146730855-7 OAI: oai:DiVA.org:hh-20831DiVA, id: diva2:586702
Konferens
2012 IEEE International Conference on Technologies for Practical Robot Applications, TePRA 2012, Woburn, MA, USA, 23-24 April, 2012
Tillgänglig från: 2013-01-12 Skapad: 2013-01-12 Senast uppdaterad: 2018-03-22Bibliografiskt granskad

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Iagnemma, Karl

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