Szczegóły publikacji
Opis bibliograficzny
Modelling of magnetic adhesion modules for mobile robots / Bartłomiej BONAR, Tomasz BURATOWSKI, Piotr Rosikowski, Paweł Pac, Mariusz GIERGIEL // W: 42nd IBIMA Computer Science conference [Dokument elektroniczny] : 29–30 November 2023, Seville, Spain : [conference proceedings], [Pt. 3]. — Wersja do Windows. — Dane tekstowe. — [USA : International Business information Management Association], [2023]. — (Proceedings of the... International Business Information Management Association Conference ; ISSN 2767-9640). — S. 43–53. — Wymagania systemowe: Adobe Reader. — Tryb dostępu: https://u.pcloud.link/publink/show?code=eEBctalK#folder=19778... [2024-01-04]. — Bibliogr. s. 52–53, Abstr. — Abstract w: https://ibima.org/accepted-paper/modelling-of-magnetic-adhesion-modules-for-mobile-robots/
Autorzy (5)
- AGHBonar Bartłomiej
- AGHBuratowski Tomasz
- Rosikowski Piotr
- Pac Paweł
- AGHGiergiel Mariusz
Słowa kluczowe
Dane bibliometryczne
| ID BaDAP | 151185 |
|---|---|
| Data dodania do BaDAP | 2024-01-05 |
| Rok publikacji | 2023 |
| Typ publikacji | materiały konferencyjne (aut.) |
| Otwarty dostęp |  |
| Konferencja | 42nd International Business Information Management Association Conference |
| Czasopismo/seria | Proceedings of the... International Business Information Management Association Conference |
Abstract
This paper presents a comprehensive step-by-step development process of magnetic adhesion modules intended for mobile robots deployed in shipyards for hull cleaning applications. The primary objective of this study is to establish a safe and efficient system that enables robots to safely operate on ferromagnetic ship hulls to perform cleaning operations. The conventional sandblasting method involves personnel working in dangerous conditions and need for a number of precautions to prevent cleaning medium polluting surroundings. Allowing the robot to take over this task allows using specially developed cleaning equipment that would greatly reduce dangers and increase efficiency of the process. Literature that describes magnetic attraction forces does not provide strict mathematical formula, as problem depends on a multitude of variables, one of them being shape of magnets and attracted object. This paper provides a case study that may serve as a reference for development of similar equipment. FEMM software was used to model and simulate various solutions that would adhere to working conditions of developed robot. To generate high-density, low-range magnetic field suitable for described application, Halbach array was used and numerical comparison between such system and a single magnet of equivalent size was presented. Material and geometric considerations for chasis were presented, along with materials used. Measurements on physical system were conducted using multiple magnets configurations and compared with simulation results. This study offers a comprehensive comparison between the numerical predictions and the actual performance of the magnetic adhesion modules, providing field-tested design that can serve as a reference.