Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications

Changrak Choi; Dimitris Chatzigeorgiou; Rached Ben-Mansour; Kamal Youcef-Toumi

doi:10.1109/ICRA.2012.6225380

Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications

Changrak Choi^*, Dimitris Chatzigeorgiou, Rached Ben-Mansour, Kamal Youcef-Toumi

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

14 Scopus citations

Abstract

In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.

Original language	English
Title of host publication	2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4118-4123
Number of pages	6
ISBN (Print)	9781467314039
DOIs	https://doi.org/10.1109/ICRA.2012.6225380
State	Published - 2012

Publication series

Name	Proceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)	1050-4729

ASJC Scopus subject areas

Software
Control and Systems Engineering
Artificial Intelligence
Electrical and Electronic Engineering

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10.1109/ICRA.2012.6225380

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Choi, C., Chatzigeorgiou, D., Ben-Mansour, R., & Youcef-Toumi, K. (2012). Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 (pp. 4118-4123). Article 6225380 (Proceedings - IEEE International Conference on Robotics and Automation). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ICRA.2012.6225380

Choi, Changrak ; Chatzigeorgiou, Dimitris ; Ben-Mansour, Rached et al. / Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications. 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. pp. 4118-4123 (Proceedings - IEEE International Conference on Robotics and Automation).

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title = "Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications",

abstract = "In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.",

author = "Changrak Choi and Dimitris Chatzigeorgiou and Rached Ben-Mansour and Kamal Youcef-Toumi",

year = "2012",

doi = "10.1109/ICRA.2012.6225380",

language = "English",

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series = "Proceedings - IEEE International Conference on Robotics and Automation",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "4118--4123",

booktitle = "2012 IEEE International Conference on Robotics and Automation, ICRA 2012",

address = "United States",

}

Choi, C, Chatzigeorgiou, D, Ben-Mansour, R & Youcef-Toumi, K 2012, Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications. in 2012 IEEE International Conference on Robotics and Automation, ICRA 2012., 6225380, Proceedings - IEEE International Conference on Robotics and Automation, Institute of Electrical and Electronics Engineers Inc., pp. 4118-4123. https://doi.org/10.1109/ICRA.2012.6225380

Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications. / Choi, Changrak; Chatzigeorgiou, Dimitris; Ben-Mansour, Rached et al.
2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc., 2012. p. 4118-4123 6225380 (Proceedings - IEEE International Conference on Robotics and Automation).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AU - Ben-Mansour, Rached

AU - Youcef-Toumi, Kamal

PY - 2012

Y1 - 2012

N2 - In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.

AB - In-pipe wheeled robots require friction on the wheels to maintain traction. Ability to vary this friction is highly desirable but conventionally used linkage mechanism is not suitable for it. This paper presents a novel mechanism generating adjustable friction with minimal energy consumption for in-pipe robots. The mechanism uses permanent magnets to achieve the objective. An appropriate model for the system is also presented and discussed. The paper identifies the important design parameters, and more importantly establishes the relation between the design parameters and the system's performance. In addition, a prototype of the mechanism was designed, fabricated and tested for validation.

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BT - 2012 IEEE International Conference on Robotics and Automation, ICRA 2012

PB - Institute of Electrical and Electronics Engineers Inc.

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Choi C, Chatzigeorgiou D, Ben-Mansour R, Youcef-Toumi K. Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications. In 2012 IEEE International Conference on Robotics and Automation, ICRA 2012. Institute of Electrical and Electronics Engineers Inc. 2012. p. 4118-4123. 6225380. (Proceedings - IEEE International Conference on Robotics and Automation). doi: 10.1109/ICRA.2012.6225380

Design and analysis of novel friction controlling mechanism with minimal energy for in-pipe robot applications

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