JRM Vol.31 No.6 pp. 827-836
doi: 10.20965/jrm.2019.p0827


Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots

Arata Masuda, Akihiro Tanaka, Yoshiyuki Higashi, and Nanako Miura

Kyoto Institute of Technology
Matsugasaki-Gosho-Kaido-cho, Sakyo-ku, Kyoto 606-8585, Japan

July 16, 2019
October 22, 2019
December 20, 2019
UAV, aerial inspection robot, electro-permanent magnet, clinging, perching
Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots

A UAV with EPM-based clinging devices

This study aims to develop a clinging device for structural inspection robots, which are expected to be used to reduce the cost of inspection of aging civil infrastructure and industrial structures. In a previous study, an electro-permanent magnet (EPM)-based clinging device that could electrically turn on and off the magnetic adhesive force against steel structures was proposed. In this study, a more versatile design of the clinging device was firstly presented, and a considerable difficulty regarding the activation process of the EPM which might impair the reliability of the clinging device was stated based on mathematical modeling and experiments. The concept of a two-step activation process was then presented to overcome the stated difficulty, and its implementation using a limit switch-based contact sensor was successfully demonstrated through collision tests. Furthermore, sensorless realization of contact detection by measuring the induced voltage across the coil of the EPM was proposed, and its feasibility was validated.

Cite this article as:
A. Masuda, A. Tanaka, Y. Higashi, and N. Miura, “Reliable Activation of an EPM-Based Clinging Device for Aerial Inspection Robots,” J. Robot. Mechatron., Vol.31, No.6, pp. 827-836, 2019.
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Last updated on Aug. 09, 2020