지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술저널
- 저자정보
- 발행연도
- 2023.6
- 수록면
- 108 - 123 (16page)
- DOI
- 10.4283/JMAG.2023.28.2.108
이용수
초록· 키워드
오류제보하기
Currently, most of the inspection robots for high-voltage transmission lines, both at home and abroad, utilize a multi-cantilever rigid structure. However, the inefficiency and poor safety of these robots when it comes to crossing obstacles make them impractical. To address this issue, a magnetically actuated soft inspection robot has been developed. This robot uses the amperage force applied to the current-carrying coil in a HVDC toroidal magnetic field to efficiently and flexibly cross multiple obstacles in an inchworm-like motion. The focus of this paper is on the design and theoretical calculation of the magnetically actuated model, specifically the magnetic linear traction force and magnetic adsorption force (diastolic force), required to enable the soft robot to crawl. Through simulation and kinematic analysis, the results show that the magnetically actuated soft robot design proposed in this paper is theoretically feasible, providing a foundation for future developments in magnetically actuated soft robots.
목차
1. Introduction
2. Inspection Robot Operating Environment Characteristics and Simulation
3. Magnetically Actuated Soft Inspection Robot Barrier Crossing Structure Design
4. Magnetically Actuated Simulation Analysis
5. Kinematic Analysis of The “Ω” Motion of Magnetically Actuated Soft Inspection Robot
6. Conclusion
References
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