• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.10a
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• pp.187-188
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• 2006

• Journal of the Society of Naval Architects of Korea
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• v.47 no.1
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• pp.88-92
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• 2010

We propose a new design of the hybrid-magnet wheel to make it possible for a mobile robot to be attached to the vertical plane and be in motion. In the new suggested design, a permanent magnet is utilized to enhance the adhesive force, while an electromagnet is adopted to reduce the magnetic field and the adhesive force for detaching easily. To analysis the performance of the robot, 3 dimensional finite element analysis is executed using commercial electromagnetic analysis program, Maxwell. The results show that the adhesive force is reduced effectively by the electromagnet in the new designed robot system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1676-1681
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• 2003

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline. and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application. as the attaching force ortho vehicle can be affected by its posture.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2006.05a
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• pp.311-312
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• 2006

In this paper, steering systems for mobile robot with permanent magnet wheels are discussed. The mobile robot with permanent magnet wheels can have three different types of steering and driving configurations; two-wheels, three-wheels, four-wheels. By a Two-WD(Wheel Driving) system, driving and steering characteristics are controlled by ratio of each wheel speeds. Three-WD system is steered by a front wheel and driven by rear wheels. Four-WD system has better stability than two wheel system. Usually the permanent magnet wheel has nearly none slip. Thus turning radius of the mobile robot with three-WD and four-WD System will be increased and the steering and driving system will be complicated. To solve this problem, two magnet wheels with two dummy wheels are used in this study. fuming radius of the developed mobile robot is small and the structure of the robot is simple. It is possible to move forward, backward, to turn left and right, and to rotate freely with two-WD. This study proved that two-WD system is very suitable fur the mobile robot with permanent magnet wheels.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.9
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• pp.77-84
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• 2004

The attachment of mobile vehicle is necessary for the automated operation on the inclined or vertical walls of steel structures. Since the vehicle requires attaching devices additionally, its overall efficiency can be reduced by the devices. Therefore, external shapes of mobile vehicles have to be researched to give the effective movement on the vertical face. For the design of mobile vehicle, the guideline has been derived from the modeling of wall-climbing, so that the vehicle should have a specific external shape for vertical movement due to the gravitational force. Hence, some adequate arrangement of attaching device to the mobile vehicle has been presented for the effective movement. In the experiments with four permanent magnetic wheels, a plausible result was achieved as a vertical attaching force of 185.2(N), a friction force of 153.8(N) and a curvature radius of 1.4m. The mobile vehicle should be modified according to the proposed design guideline, and then it could be applied to a specific operation as an appropriate external shape. Also, Further research is recommended on an optimal posture and a moving method in a specific application, as the attaching force of the vehicle can be affected by its posture.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.635-638
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• 2000

It is necessary to work on a vertical plane of workpiece in order to produce a large structure like a ship. These works can be automated by using the robot with permanent magnet wheels. We developed the permanent magnet wheel which can be used by a mobile robot and easily detached. We enhanced an adhesive power by restricting the occurrence direction of magnetic flow. And we also developed a method which weakens adhesive magnetic force by changing magnetic flow with metal pins. We used the load cell and the gaussmeter to measure the characteristics of the adhesive force and magnetic force. We obtained the result that the adhesive power is reduced to 1/3 of normal state by using 4 inducing pins.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.1
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• pp.143-149
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• 2002

Robot are necessary to automate the work on a vertical plane of work piece to produce a large structure like a ship, so that a permanent magnet wheel has been attempted to be used for a mobile robot. Its adhesive power was enhanced by restricting the occurrence direction of magnetic flow. Furthermore a method which weakened the adhesive force was developed for easy detachement of the wheel by changing magnetic flow with metal pin. To measure the characteristics of the adhesive and detaching farces, a load call and a gaussmeter were used. The result showed that the adhesive power was reduced to 1/3 of normal state by using 4 inducing pins.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.548-553
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• 2002

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.9
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• pp.69-76
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• 2004

Most tasks of the large vertical or ceiling structures have been carried out by human power. Those tasks require us much operation costs and times, safety devices, etc. So the need of automation for those tasks have been rising. That automation needs a wall-climbing mobile vehicle. Most former researches are things about attachment devices and moving mechanisms. A wall-climbing mobile vehicle must be designed by a method different from the case of the vehicle of the horizontal environment. That is because gravity acts as a negative role on the stability of a wall-climbing vehicle. In this thesis, the particular shape characteristics of a wall-climbing mobile vehicle are derived by the wall-environment modeling. In addition, some design constraints of the permanent magnetic wheel as an attachment device was studied. According to those requirements and constraints, one specific wall-climbing mobile vehicle was designed and some experiments were made on the attachment ability of that vehicle.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.760-761
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• 2015

기어는 회전 기계 사이의 동력 전달을 위한 장치이며 현재 산업 전반의 통상적인 기어는 기계적 기어가 주류로서 형성되어 있다. 하지만 기계적 기어는 맞물린 톱니바퀴의 물리적 접촉에 의해 접촉 경계면의 마모 및 파손, 소음과 진동의 문제가 있으며 유지보수 비용 또한 크다. 따라서 최근 물리적 접촉이 없어 기계적 기어의 많은 문제를 해결할 수 있는 마그네틱 기어 (Magnetic Gear)에 대한 관심이 높아지고 있다. 마그네틱 기어는 영구자석에서 생성된 자계를 이용하여 비접촉 동력전달이 가능하며, 마찰손실 제거, 유지보수의 용이성, 매우 적은 소음 및 진동 등의 장점을 가지고 있다. 본 논문에서는 이러한 마그네틱 기어의 토크전달 방법과 형상변화에 따른 전달토크 특성을 2-D 유한요소해석법을 이용하여 해석하고 분석하고자 한다.