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A New Family of Magnetic Adhesion Based Wall-Climbing Robots

  • Stefano Seriani
  • Lorenzo Scalera
  • Alessandro GasparettoEmail author
  • Paolo Gallina
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 68)

Abstract

This paper is devoted to climbing robots that adhere to the wall through permanent magnetic elements. If the surface on which they adhere is not ferromagnetic, it is necessary for the system to be composed of two subsystems (master and follower carts), arranged in a sandwich configuration, with the surface to climb interposed between the two. However, this configuration does not allow the robot to descend from the wall where it is climbing and to move freely on the floor (because of the presence of the follower). This paper shows how to remove this limitation. In fact, the system is able to automatically detach the follower when the robot has to move on the floor and recover it when it has to climb.

Keywords

Climbing robots Magnetic adhesion 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Stefano Seriani
    • 1
  • Lorenzo Scalera
    • 2
  • Alessandro Gasparetto
    • 2
    Email author
  • Paolo Gallina
    • 1
  1. 1.University of TriesteTriesteItaly
  2. 2.University of UdineUdineItaly

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