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Research of Hybrid Magnetic System Used in Autonomous MegaSumo Robots

Marcin Dziubek, Michał Falkowski, Paulina Łapińska, and Rafał Grądzki
Faculty of Mechanical Engineering, Bialystok University of Technology, Bialystok, Poland

Abstract—The article describes the research of a hybrid magnetic system consisting of neodymium magnets arranged in a Halbach array, combined with electromagnets. The system had been applied to an autonomous MegaSumo robot. Application of the system is intended to enable control of a robot adhesion to the mat that the robot moves on during fights. As a part of the electromagnet selection process, simulation tests had been conducted. Simulations were targeted to analyse the influence of changing quantities of electromagnet coils and core radius on attraction force. After the electromagnets selection, the hybrid magnetic system had been created, consisting of 60 neodymium magnets and two electromagnets. The system had been tested with MTS 858 Table Top System machine. The experiment showed that the use of a hybrid solution brings many benefits, and in certain situations its capabilities significantly exceed the standard solution. In addition, during the tests, it was possible to determine the optimal number of turns of the electromagnet coil on the basis of optimization tests.

Index Terms—autonomous robot, sumo robot, magnetism, electromagnet, magnet, Halbach array
Cite: Marcin Dziubek, Michał Falkowski, Paulina Łapińska, and Rafał Grądzki, "Research of Hybrid Magnetic System Used in Autonomous MegaSumo Robots," International Journal of Mechanical Engineering and Robotics Research, Vol. 10, No. 6, pp. 343-348, June 2021. DOI: 10.18178/ijmerr.10.6.343-348

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