|S. Seriani, L. Scalera, A. Gasparetto, P. Gallina|
|A new family of magnetic adhesion based wall climbing robots |
|Proceedings of the 2nd IFToMM ITALY Conference, Cassino, Italy, November 29-30, 2018 |
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.