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In this paper, a new type of magnetic wheeled wall-climbing robot is proposed in order to overcome the shortcomings of existing climbing robots. It takes advantage of SOLIDWORKS to establish a three-dimensional model. Also, the paper introduces the design idea of wall-climbing robot, uses MATLAB to do the numerical analysis and make magnetic simulation through ANSOFT MAXWELL.
A new type of crawler-type magnetic adsorption wall-climbing robot for derusting of ships was designed. The three-dimensional model of the robot, the adsorption device and the cleaning device, were established by SOLIDWORKS, and the static force model was established according to the actual working condition. Then, two kinds of common overturning risks of the wall-climbing robot were analyzed and...
Aiming at the aircraft skin inspection robot with double frames, a novel adsorption system is designed, in which the adsorption force between the suction cup and the surface of the aircraft is determined by the curvature change. In order to guarantee an optimal adsorption of the robot on the surface during the movement, the principal object is to determine the minimum value of the adsorption force...
For inspection of large-scale equipment such as storage tanks and spherical tanks, it usually costs much manpower and material, while automated testing robot can achieve fast and accurate detection. Because detection is dependent on specialized automated equipment, it can greatly enhance inspection technology in large storage tanks that applying the Mecanum Omnidirectional Mobile Robot into automated...
Traditional climbing robots that use vacuum suckers have some technical problems, e.g., inability to climb coarse walls, frictional resistance and abrasion of suckers, and poor obstacle-surmounting ability. In this study, a new negative pressure adsorption mechanism is applied to the design of a climbing robot. This mechanism generates and maintains negative pressure and adsorption force by using...
The safety of working on walls has been improved by several adsorption mechanisms most of which sustain the absorption by pumps or other actuators. This research proposes an alternative method (a spring-suspended suction cup with a buckled plate spring) that can be attached for long durations without any vacuum pumping system. The negative pressure of the spring suspended suction cup is analyzed and...
In order to realize the automatic inspection of the lining defect of the construction surface, and make the surface of construction repair work effectively, researching a kind of robot can crawl in the construction surface and do nondestructive testing. According to the characteristics of the surface of the construction, putting forward the overall design scheme of climbing robot, determining its...
In order to reduce scratches attributed to the CMP (chemical mechanical planarization) polishing processes, defect-causing large particle counts must be reduced to improve semiconductor yields. CMP slurry filtration is considered as a critical enabler of these yield improvements. As the process technology advances, the abrasive concentrations of CMP slurries will continue to be lowered while abrasive...
A bionic micro sucker was designed in this study based on the analyses of the structure and behavior of leech suckers. This sucker helps micro medical robot to adhere to the inner wall of the gastrointestinal tract and perform long-term test of the peristalsis. It is actuated by petaloid ionic-polymer metal composite (IPMC), and wrapped by innocuous silicone rubber, which makes it like a foveate plate...
WaFLES (Water-Filled LaparoEndoscopic Surgery) is an operative method suggested by Igarashi et al., which has several advantages, such as, preventing the drying of inner organs, and being able to use ultrasound devices for real time monitoring. However, grasping of inner organs with usual forceps for move and incision purpose is difficult. Therefore our ultimate goal is to develop a small sucker manipulator...
At room temperature ion-ion correlations and counterions volume effect play a crucial role in the description of the electrical double layer of colloidal particles. In fact, in many instances, the inclusion of the short range correlations between ions in the study of the ionic distribution and the consideration of the ion's size lead to quite different results with respect to the classical treatment...
This paper presents a new suction cup with a disc spring for exiting adsorption mechanisms (for example, wall-climbing robots). The center of the suction cup can be pulled up manually through the use of buckling of the disc spring. When deformation of the disc spring reaches a certain balance point, it can sufficiently generate adsorption force. However, with time, the adsorption force will gradually...
The openness and accessibility of the web Services on the Internet makes them vulnerable to various attacks. Therefore, security solutions are necessary to restrict access to web services and objects they manipulate.
Chitosan resin grafted by quercetin (QCR), the adsorbent, was used as for the separation of flavonoids. The optimum conditions were determined by automatic liquid chromatography system. Moreover, the hydrophobic interaction between the flavonoids and QCR could be useful for the effective adsorption and separation.
A kind of Fe - Al - La composite oxide microspheres coated with a delay water-soluble layer of CaO was prepared. It was used to treat wastewater containing high concentration of fluorine. When chemical precipitation, flocculation precipitation ended, the fluorine content in water was <;20 mg/L, the CaO layer of Fe - Al - La composite oxide microspheres is dissolved and Fe - Al - La oxide microspheres...
The partial gas release during pumping is considered as a weakly nonequilibrium process and describes the methods of linear nonequilibrium thermodynamics. Streams are linear functions of thermodynamic forces. Force is the relationship of affinity reactions to the gassing temperature parts. As the flows accepted flows constituting the gas phase. The coefficients of proportionality determined from the...
To further understand the nitrogen removal mechanism in leachate treatment using aged-refuse-based bioreactor, 10 year aged refuse was used as adsorbent, ammonium chloride as adsorbate. The adsorption isotherms and thermodynamics, and adsorption mechanism were studied. The results show that: (1) The isothermal adsorption process of NH4+ on aged refuse can be fitted by Freundlich equations with a high...
The potentialities of the atomic force microscopy (AFM) make it a tool of the undeniable value for the study of biomolecule samples. One of the main steps for the application of atomic force microscopy to the study of proteins has been the self-assembled monolayers (SAMs). The methods of physical adsorption and chemical modification are utilized to immobilize proteins to substrates efficiently. SAMs...
A simple half order system is proposed to approximate the pore diffusion model describing the mass transfer dynamics in a particle. It is shown to approximate the entire frequency response of the pore diffusion model and can be used for any operation pattern. Implementation issues for the half order system are investigated.
The protein adsorption is a crucial but complex phenomenon in many applications, like biosensors, biomaterials. The amount, orientation and biological activity of adsorbed proteins are heavily dependent upon the structure of protein, like widely-applied Bovine Serum Albumin (BSA), and the properties of the substrate. At some extent, to explore the physicochemical properties and dynamics interaction...
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