Switchable magnets for robotics applications

Detalhes bibliográficos
Autor(a) principal: Romão, José Carlos Almeida
Data de Publicação: 2014
Tipo de documento: Dissertação
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10316/38907
Resumo: Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra.
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spelling Switchable magnets for robotics applicationsClimbing robotsMagnetic holdersSwitchable magnetsDissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra.The goal of this work is to produce an optimized switchable magnet to be used in small robotic applications. A switchable magnet is a system which uses moving permanent magnets to change the magnetic flux path and switch on or off the magnetic attraction force. The most relevant magnetic holders are presented and their working principle is explained. Then, a switchable magnet model is introduced on the Comsol Multiphysics, a physics simulation software, to enable a better understanding of its working principles, and the effect of different design and material parameters on the attraction force of the unit. Still in Comsol more simulations are exposed with the goal of making a similar device in a smaller scale with the best holding force per unit mass, whose magnetic fields interact in a constructive or destructive way, changing the path of the magnetic flux. We then coupled this device with an actuator in order to control its state (on/off). Then, two robotic devices using the novel switchable magnet are designed. The first one is a holding mechanism for a climbing robot, whose design relies on electromagnets. The second one is a prototype of a climbing robot which moves like a scissor, taking advantage of two ends which contain switchable magnets. In both systems the application of switchable magnets has one clear advantage, that is, in contrary to electromagnets this device only consumes energy at the time of switching the force on and off. The purpose of these two applications is to demonstrate the potential of the switchable magnets and show their great advantage (only requiring power to switch between states): magnetic force control without constant power feed.2014-09-05info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/masterThesishttp://hdl.handle.net/10316/38907http://hdl.handle.net/10316/38907TID:201663864engRomão, José Carlos Almeidainfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2021-12-22T21:44:08Zoai:estudogeral.uc.pt:10316/38907Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireopendoar:71602024-03-19T20:59:07.353876Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãofalse
dc.title.none.fl_str_mv Switchable magnets for robotics applications
title Switchable magnets for robotics applications
spellingShingle Switchable magnets for robotics applications
Romão, José Carlos Almeida
Climbing robots
Magnetic holders
Switchable magnets
title_short Switchable magnets for robotics applications
title_full Switchable magnets for robotics applications
title_fullStr Switchable magnets for robotics applications
title_full_unstemmed Switchable magnets for robotics applications
title_sort Switchable magnets for robotics applications
author Romão, José Carlos Almeida
author_facet Romão, José Carlos Almeida
author_role author
dc.contributor.author.fl_str_mv Romão, José Carlos Almeida
dc.subject.por.fl_str_mv Climbing robots
Magnetic holders
Switchable magnets
topic Climbing robots
Magnetic holders
Switchable magnets
description Dissertação de Mestrado Integrado em Engenharia Mecânica apresentada à Faculdade de Ciências e Tecnologia da Universidade de Coimbra.
publishDate 2014
dc.date.none.fl_str_mv 2014-09-05
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/masterThesis
format masterThesis
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10316/38907
http://hdl.handle.net/10316/38907
TID:201663864
url http://hdl.handle.net/10316/38907
identifier_str_mv TID:201663864
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
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collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos) - Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
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