Measurement of payload under variable adhesive force through coppeliasim and validating the design of a wall climbing robot

Abstract

Wall Climbing Robots (WCR) have various applications in industries for performing many industrial-specific tasks, which in turn improve the performance and efficiency of the operation. There are many design parameters that have to be considered before the fabrication of a wall climbing robot, and those vary from case to case based on the application. Direct fabrication based on trial and error is not recommendable, and hence there is always a demand for modelling and simulation software where the performance of the bot could be assessed by fixing and varying certain design parameters. Objective: In this paper, one simulation software named Coppeliasim is used to model, simulate, and validate the performance of the proposed design via the following two methods. Method: 1: The proposed design of a wall climbing robot possesses a central adhesive disc having electromagnets; the analysis is done based on the varied count of electromagnets at the central disc, which is varied for each case as 0, 1, 2, 3, and for each case the simulated data are collected for the final result in the form of a graph arriving at the best design carrying a high payload. Method: 2: Keeping the payload of the bot fixed at 50 kg and the adhesive force with other design parameters altered in order to study its performance.In both methods, it is found that the three electromagnets at the central disc perform well both in terms of carrying a high payload and their durability in the function for which they were designed.

Keywords

• Wall climbing robot (WCR)
• Coppeliasim
• Electromagnet
• Central disc