magnetic wall climbing robot

2. TITLE
Design and Development of Magnetic Adhesion
based Crawler
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3. GROUP MEMBERS
Group Members Name Reg No
M. Laeeq Ahmed 17-IE-17
Noman Asif Khan 17-IE-48
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Supervisor Name:
Dr. Salman

4. Design and Development
We studied different research papers to choose best design that perform inner and outer transitions:-
1st
2nd
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5. 1-Prototype Design
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6. Case 1:
In the first case as from the figure you can see that when we placed the structure at 90 degree
there we find the many limitations because a structure with 90 degree cannot perform the
transition at angle of 90 degree so neither it can work on the inside nor on the outside surface so
we need to define new angle designs in order to overcome the hurdles of the 90 degree.
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7. 2-Prototype Design
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8. Case 2:
in the second case we defined our transition angle which was 90 and so by using equation we
measured the optimal angle.
θ = transition angle +
Transition angle
2
θ = 90 + (90/2)
θ = 135
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9. Prototype In actual form
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10. Apparatus
Ferrous ring magnets
DC gear motors
Arduino Uno
L298N motor driver
HC-05 Bluetooth module
Mild steel sheet
PVC plastic sheet
Jumper wires
LEDs
Super glue
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11. Ferrous Magnet
Ferrous metals contain a large enough iron content to create enough domains for a magnetic
field to act on and attract. Ferrous materials are the only objects that are physically attracted to
magnetic fields.
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12. DC Gear motor
A gear motor, also called a gear motor or a geared motor, is a combination of a gear system or
gearbox and an electric motor. Sometimes inaccurately called “gears motors,” or even geared
motors, gear motors generally combine an efficient motor, such as an Electrically
Commutated Motor, with a gear reducer or gearhead.
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13. Specification of Dc gear Motor
Rated Voltage: DC 12-24V
Speed: 142RPM
Rated Torque: 31-18Kgf.cm(3.04-1.765N.m)
Rated Current: 0.8A
Shaft Size: 8mm x 30mm(0.31" x 1.18")(D*L)
Gearbox Size: 106 x 36mm(4.17" x 1.42")(L*D)
Wire Length: 19cm(7.48")
Total Length: 140mm(5.51")
Material: Metal, graphite
gear type: Planetary
Gear ratio:1/84
Net Weight: 95g
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14. PVC foam board
Expanded PVC foam board, also known as expanded polyvinyl chloride (PVC), is a lightweight,
rigid form of expanded foam polyvinyl chloride. It is commonly used for commercial purposes
like digital and screen printing, laminating, vinyl lettering, signage, and more
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15. Laser cutting
Laser cutting is mainly a thermal process in which a focused laser beam is used to melt material
in a localized area. A co-axial gas jet is used to eject the molten material and create a kerf. A
continuous cut is produced by moving the laser beam or work piece under CNC control.
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16. Arduino Uno
The Arduino Uno is a small microcontroller board originally based on the ATmega328P intended
for use on breadboards and when space is at a premium. ... The Arduino Uno is programmed
using the Arduino Software (IDE), our Integrated Development Environment common to all our
boards and running both online and offline.
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17. L298N
The L298N is an integrated monolithic circuit in a 15-lead Multi watt and PowerSO20 packages.
It is a high voltage, high current dual full-bridge driver designed to accept standard TTL logic
levels and drive inductive loads such as relays, solenoids, DC and stepping motors.
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18. HC-05 Bluetooth module
Serial Bluetooth module for Arduino and other microcontrollers
Operating Voltage: 4V to 6V (Typically +5V)
Operating Current: 30mA
Range: <100m
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19. Circuit Design
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20. Procedure
Check the wiring of the components one by one before fitting it to the car chassis. Otherwise it
will be difficult to find the faulty parts.
Parallel connect two motors and repeat this steps for another pair of motor.
Place the first pair of BO motor to the one end i.e. left side of the car chassis.
Again place another pair of the BO motor to another end of the car chassis i.e. to the right side.
After connecting these four motors test them by fitting wheels to the motors and then connect
them to the battery.
Place a 12V battery on the top of the Chassis and fix it with glue gun to avoid slipping of battery.
Fix the L298N Motor Driver Module with the help of glue on the Chassis.
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21. Procedure (Cont.)
Then connect the wire from the left side motor pair to the motor input (1, 2) of the Motor Driver
L298N.
Again connect another wire from the right side of the motor pair to the motor input (3,4) of the
Motor Driver L298N. Then connect the positive wire of the power supply to the 12V input of the
L298N Motor Driver Module.
Then connect the GND of the 12V power supply to the GND of the L298N Motor Driver Module.
Connect pins of Arduino Uno to the Input data Pins of Motor Driver L298N as follows:
◦ IN1 - Pin 10
◦ IN2 - Pin 9
◦ IN3 - Pin 7
◦ IN4 - Pin 6
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22. Procedure (Cont.)
Then connect RX Pin of HC-05 Bluetooth module to the TX Pin of the Arduino Uno.
Connect TX Pin of the HC-05 Bluetooth module to the RX Pin of the Arduino Uno.
Connect 5V Pin of Arduino Uno to the VCC pin of the HC-05 Bluetooth Module.
Then connect the GND of the Arduino Uno to the GND of the HC-05 Bluetooth Module.
Connect Pin 5v of Arduino Uno to 5V Pin of L298N Motor Driver Module as shown in image
above.
Now, connect GND and +12V Pin of L298N Motor Driver Module with 7V chargeable Battery as
shown in the image above.
The circuit connections must be made according to the steps and image given above.
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23. Mobile app controller
This is the interface for the mobile application of the Bluetooth RC controller which allows the
user to connect to the Bluetooth of HC 05 and connect it to the any android phone and use it on
the phone to control the robot.
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24. wheel Mechanism
Cut the Mild steel sheet with the help of lathe cutting in a round shape. Sandwich the magnet
between the two Mild Steel sheet
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25. Assembly
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26. Working
Here are steps being described to interface the Bluetooth application with android mobile and to
access the module.
1. Now go to Google play store in android mobile and download Arduino Bluetooth RC car and install
it.
2. Now provide 12V power supply to the RC car then you'll find the blinking of red light in HC-05
Bluetooth Module which means that will Bluetooth is now discoverable to any android device.
3. Open the app previously installed in your device and click the connect button and after that you'll
find one option there to connect it to your device named as HC-05 followed "xyz...".
4. Then Click on that option to pair it with your Bluetooth device.
5. Now load the following code given below to the Arduino Uno.
6. Give the command to operate the Bluetooth controlled car.
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27. Investigation: Inner and outer Transitions
On inside transition ability :
In this case the robot has two working mechanisms in which both front and back wheels are
separately controllable with microcontroller when front wheels touches the metal wall the front
wheels got torque and back wheels push the robot towards the upper surface there is no special
mechanism for transition only the V-type circular structure which can overcome the hurdles and
also control steering mechanism.
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28. inside transition
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29. Inside transition mechanism
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30. outside transition ability
in case of outside transition the front wheels remains attach to the wall and shift the torques
and using equilibrium equation where the attraction force should be greater than the weight of
robot and force of gravity in which the acceleration with which robot moves on the metallic
surface.
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31. Forces analysis
To improve the performance of robotic movements, we need to deal with a number of potential
dangers, first of all, to circumvent the last point of contact between the track and the wall,
secondly, to slide against the wall, and third, to deviate from the system. In either case, the
robot will not be able to complete the test successfully. To ensure operational stability and
adhesion safety, we need to increase the magnetic grip strength, while leading to reduced
flexibility. It is therefore necessary to build a power analysis model to measure the two.
When the robot rests vertically, it carries gravity, higher supporting power, grip strength, and
collision between tracks and faces. Power analysis was performed randomly for a wall-operated
robot at any angle of inclination. Studies under a variety of conditions lead to a standardized
method of analysis regarding static strength equilibrium. As the robot continues to land in a
horizontal position, it carries forces such as gravity, adhesion, normal forces, and friction
between tracks and faces, which can be described as G, Fa, Ni, and Ff, respectively.
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32. Forces Analysis (Cont.)
So in order to calculate these forces we use spring balance and forces equation relations in order
to develop a best static and dynamic model.
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33. A simple permanent magnet:
A simple permanent magnet has intensity of about 0.7 tesla and force density of about 0.0001
(N/M3)which is not enough to carry heavy ferrous weight for application purpose.
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34. Analysis of magnetic wheel of robot:
When we sandwich the magnets between wheels in same field direction the force density we
obtain here is 2.05e+008 (N/M3).
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35. Configuration
Configuration Force density (N/m3)
Vertical same 2.05e+008
Vertical opposite 2.4e+008
Horizontal opposite 3.6e-010
Horizontal same 8.3e-010
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36. Distance between the magnets
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37. Forces Analysis
To ensure operational stability and adhesion safety, we need to increase the magnetic grip
strength, while leading to reduced flexibility. It is therefore necessary to build a power analysis
model to measure the two. When the robot rests vertically, it carries gravity, higher supporting
power, grip strength, and collision between tracks and faces. Power analysis was performed
randomly for a wall-operated robot at any angle of inclination. Studies under a variety of
conditions lead to a standardized method of analysis regarding static strength equilibrium. As
the robot continues to land in a horizontal position, it carries forces such as gravity, adhesion,
normal forces, and friction between tracks and faces, which can be described as G, Fa, Ni, and Ff,
respectively.
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38. Forces Analysis (Cont.)
So in order to calculate these forces we use spring balance and forces equation relations in order
to develop a best static and dynamic model.
Weight = (1.9 * 9.8 ) = 19 N
coefficient of friction = μ = 0.7 (rubber against metal)
gravitational force = G = 9.8ms-1
Adhesive force = Fa = (3 * 9.8) = 29.44 N
normal force = N = Fa = 29.44 N
frictional force = Ff = N * μ = 29.44 * 0.7 = 20.58 N
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39. Payload capacity
The maximum payload that is carried by robot without losing the state of equilibrium is about
which is calculated by adding spring balance to the every different positions using the spring
balance
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40. Discussion
This report has described a newly designed tracked wall-climbing robot special for all industrial
applications that are discussed. The robot has a wide climbing speed range with the maximum
speed up to 142 rpm and is able to move steadily and can perform any transition that is 90
degree without any hurdle. The wireless control system over a range of 100m gives a very
systematic control in order to achieve and perform more and more operations It has high
payload capacity and excellent obstacle-overcoming performance. With its semiautomatic
control system and probe clamping device suitable for different detector, inspection and many
other systems. this integrated multitask robot could meet various problems in the industries.
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41. CONCLUSIONS & RECOMMENDATIONS
By consideration of the workspace of the wall climbing robot and safety requirements, the
permanent magnetic wall climbing robot was put forward. The design of mechanical
architecture and control architecture is also compatible with the adopted environment. By
analysis of static and dynamic force of the robot, safety constraints the transition can be
overcome to convex and concave obstacles. By comparison of two types of structure of magnetic
unit, parameters about magnetic unit an optimized design and Ferro-magnetic plates inserted
between wheels and embedded at the bottom surface. Finally, the embedded system,
hierarchical control architecture, and web based tele-operation architecture were designed. This
report has described a newly designed tracked wall-climbing robot special for all industrial
applications that are discussed. The robot has a wide climbing speed range with the maximum
speed up to 142 rpm and is able to move steadily and can perform any transition that is 90
degree without any hurdle. The wireless control system over a range of 100m gives a very
systematic control in order to achieve and perform more and more operations It has high
payload capacity and excellent obstacle-overcoming performance. it is recommended to design
and made some modifications in order to achieve the better handling so that there will be no
more problems in the design.
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