{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,15]],"date-time":"2025-10-15T18:15:12Z","timestamp":1760552112046,"version":"build-2065373602"},"reference-count":30,"publisher":"MDPI AG","issue":"5","license":[{"start":{"date-parts":[[2024,5,8]],"date-time":"2024-05-08T00:00:00Z","timestamp":1715126400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotics"],"abstract":"<jats:p>To discuss and consider the necessary conditions for magnetic-wheeled robots with planetary-geared magnetic wheels, this paper provides comparing static calculations about three orientations in running a flange with real experiments. SCPREM-I, a magnetic-wheeled robot, was developed for running through a flange from the bottom to the top. This robot has four magnetic wheels with a built-in planetary gearset. In experiments, however, the robot sometimes fails to run through a flange in three orientations. In this study, we statically analyze SCPREM-I to find the conditions necessary for running through the flange. We calculate the forces around the front and rear wheels in the three orientations. As a result, it has been found that the chassis of the SCPREM-I applies a forward force to the wheels when it runs through the flange. In addition, it has been found that the normal force of the A-Legs is balancing with the driving force of the wheels when the SCPREM-I fails to run through the flange.<\/jats:p>","DOI":"10.3390\/robotics13050072","type":"journal-article","created":{"date-parts":[[2024,5,8]],"date-time":"2024-05-08T03:23:19Z","timestamp":1715138599000},"page":"72","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["Necessary Conditions for Running through a Flange by Using Planetary-Geared Magnetic Wheels"],"prefix":"10.3390","volume":"13","author":[{"given":"Masaru","family":"Tanida","sequence":"first","affiliation":[{"name":"Department of Mechanical Engineering, Osaka Metropolitan University, Osaka 599-8531, Japan"}]},{"given":"Kosuke","family":"Ono","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Osaka Metropolitan University, Osaka 599-8531, Japan"}]},{"given":"Takehiro","family":"Shiba","sequence":"additional","affiliation":[{"name":"Measurement Industry Co., Ltd., Osaka 590-0056, Japan"}]},{"given":"Yogo","family":"Takada","sequence":"additional","affiliation":[{"name":"Department of Mechanical Engineering, Osaka Metropolitan University, Osaka 599-8531, Japan"}]}],"member":"1968","published-online":{"date-parts":[[2024,5,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"608","DOI":"10.1061\/(ASCE)BE.1943-5592.0000090","article-title":"I-35W Bridge Collapse","volume":"15","author":"Hao","year":"2010","journal-title":"J. Bridge Eng."},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"635","DOI":"10.1016\/j.engstruct.2013.11.022","article-title":"Numerical investigation of collapse of the Minnesota I-35 bridge","volume":"59","author":"Salem","year":"2014","journal-title":"Eng. Struct."},{"key":"ref_3","doi-asserted-by":"crossref","first-page":"439","DOI":"10.20965\/jrm.2013.p0439","article-title":"Contacting Surface-Transfer Control for Reconfigurable Wall-Climbing Robot Gunryu III","volume":"25","author":"Lee","year":"2013","journal-title":"J. Robot. Mechatron."},{"key":"ref_4","first-page":"76","article-title":"A Survey on Inspecting Structures Using Robotic Systems","volume":"13","author":"Almadhoum","year":"2016","journal-title":"Int. J. Adv. Robot. Syst."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1186\/s40327-015-0029-z","article-title":"Visual monitoring of civil infrastructure systems via camera-equipped Unmanned Aerial Vehicles (UAVs): A review of related works","volume":"4","author":"Ham","year":"2016","journal-title":"Vis. Eng."},{"key":"ref_6","doi-asserted-by":"crossref","unstructured":"Gillins, M.N., Gillins, D.T., and Parrish, C. (2016, January 14). Cost-Effective Bridge Safety Inspections Using Unmanned Aircraft Systems (UAS). Proceedings of the Geotechnical and Structural Engineering Congress, Phoenix, AZ, USA.","DOI":"10.1061\/9780784479742.165"},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Ge, D., Tang, Y., Ma, S., Matsuno, T., and Ren, C. (2020). A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups. Robotics, 9.","DOI":"10.3390\/robotics9020026"},{"key":"ref_8","doi-asserted-by":"crossref","unstructured":"Samarathunga, A.I., Piyasundara, N., Wanigasooriya, A.I., Kumara, B.S., Vithanage, V.P., and Chathuranga, D.S. (2022). A Robotic Platform for Aircraft Composite Structure Inspection Using Thermography. Robotics, 11.","DOI":"10.3390\/robotics11030062"},{"key":"ref_9","doi-asserted-by":"crossref","first-page":"75","DOI":"10.1007\/s10846-020-01266-1","article-title":"A Climbing Robot for Steel Bridge Inspection","volume":"102","author":"Nguyen","year":"2021","journal-title":"J. Intell. Robot. Syst."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"Li, J., Li, B., Dong, L., Wang, X., and Tian, M. (2022). Weld Seam Identification and Tracking of Inspection Robot Based on Deep Learning Network. Drones, 6.","DOI":"10.3390\/drones6080216"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"1033","DOI":"10.1002\/rob.22086","article-title":"Development of the generator inspection vehicle and the inspection equipment","volume":"39","author":"Ekkachai","year":"2022","journal-title":"J. Field Robot."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"1003","DOI":"10.1002\/rob.22171","article-title":"Design and analysis of a wall-climbing robot for water wall inspection of thermal power plants","volume":"40","author":"Jiang","year":"2023","journal-title":"J. Field Robot."},{"key":"ref_13","doi-asserted-by":"crossref","unstructured":"Shunsuke, N., and Mohan, R.E. (2016). A Survey of Wall Climbing Robots: Recent Advances and Challenges. Robotics, 5.","DOI":"10.3390\/robotics5030014"},{"key":"ref_14","first-page":"180","article-title":"Three-Dimensional Localization for the MagneBike Inspection Robot","volume":"28","author":"Pomerleau","year":"2010","journal-title":"J. Field Robot."},{"key":"ref_15","doi-asserted-by":"crossref","unstructured":"Eich, M., and V\u00f6gele, T. (2011, January 20\u201323). Design and control of a lightweight magnetic climbing robot for vessel inspection. Proceedings of the 2011 19th Mediterranean Conference on Control & Automation (MED), Corfu, Greece.","DOI":"10.1109\/MED.2011.5983075"},{"key":"ref_16","doi-asserted-by":"crossref","first-page":"8121678","DOI":"10.1155\/2016\/8121678","article-title":"An Automated Sensing System for Steel Bridge Inspection Using GMR Sensor Array and Magnetic Wheels of Climbing Robot","volume":"2016","author":"Wang","year":"2016","journal-title":"J. Sens."},{"key":"ref_17","doi-asserted-by":"crossref","first-page":"947","DOI":"10.1017\/S0263574717000601","article-title":"Automated Robotic Monitoring and Inspection of Steel Structures and Bridges","volume":"37","author":"La","year":"2018","journal-title":"Robotica"},{"key":"ref_18","first-page":"11","article-title":"A Magnetic Wheeled Robot for Steel Bridge Inspection","volume":"Volume 104","author":"Sattler","year":"2019","journal-title":"Advances in Engineering Research and Application"},{"key":"ref_19","doi-asserted-by":"crossref","unstructured":"Noh, M., Kwon, E., Park, S.H., and Park, Y.-W. (2020). Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot. Actuators, 9.","DOI":"10.3390\/act9030067"},{"key":"ref_20","doi-asserted-by":"crossref","unstructured":"Nguyen, S.T., Nguyen, H., Bui, S.T., Ho, V.A., Ngo, T.D., and La, H.M. (2022, January 23\u201327). An Agile Bicycle-like Robot for Complex Steel Structure Inspection. Proceedings of the 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA.","DOI":"10.1109\/ICRA46639.2022.9812153"},{"key":"ref_21","doi-asserted-by":"crossref","unstructured":"Pshenin, V., Liagova, A., Razin, A., Skorobogatov, A., and Komarovsky, M. (2022). Robot Crawler for Surveying Pipelines and Metal Structures of Complex Spatial Configuration. Infrastructures, 7.","DOI":"10.3390\/infrastructures7060075"},{"key":"ref_22","doi-asserted-by":"crossref","unstructured":"Thung-Od, K., Kanjanawanishkul, K., Maneewarn, T., Serhaput, T., and Boonyaprapasorn, A. (2022). An In-Pipe Inspection Robot with Permanent Magnets and Omnidirectional Wheels: Design and Implementation. Appl. Sci., 12.","DOI":"10.3390\/app12031226"},{"key":"ref_23","doi-asserted-by":"crossref","unstructured":"Pham, A.Q., Motley, C., Nguyen, S.T., and La, H.M. (2022, January 9\u201312). A Robust and Reliable Climbing Robot for Steel Structure Inspection. Proceedings of the 2022 IEEE\/SICE International Symposium on System Integration (SII), Narvik, Norway.","DOI":"10.1109\/SII52469.2022.9708747"},{"key":"ref_24","doi-asserted-by":"crossref","unstructured":"Zhang, X., Zhang, M., Jiao, S., Zhang, X., and Li, M. (2023). Optimization Design and Parameter Analysis of a Wheel with Array Magnets. Symmetry, 15.","DOI":"10.3390\/sym15050962"},{"key":"ref_25","doi-asserted-by":"crossref","unstructured":"Xuan, Z., Zhang, M., Jiao, S., Sun, L., and Li, M. (2024). Design and Optimization of the Wall Climbing Robot for Magnetic Particle Detection of Ship Welds. J. Mar. Sci. Eng., 12.","DOI":"10.3390\/jmse12040610"},{"key":"ref_26","doi-asserted-by":"crossref","first-page":"396","DOI":"10.1002\/rob.22266","article-title":"Agile robotic inspection of steel structures: A bicycle-like approach with multisensor integration","volume":"41","author":"Nguyen","year":"2024","journal-title":"J. Field Robot."},{"key":"ref_27","doi-asserted-by":"crossref","unstructured":"Kobayashi, S., Nakajima, K., Song, H., Takada, Y., and Shiba, T. (2021, January 6\u20138). Consideration of Method for Traveling through a Flange Path in Terms of Magnetic-Wheeled Bridge Inspection Robot with High Loading Capacity. Proceedings of the JSME annual Conference on Robotics and Mechatronics Conference Digest, Osaka, Japan.","DOI":"10.1299\/jsmermd.2021.2A1-L04"},{"key":"ref_28","doi-asserted-by":"crossref","first-page":"64","DOI":"10.7210\/jrsj.42.64","article-title":"Study of Magnetic Wheels with Planetary Gears Which Make Running on Flange Paths Easy for Magnetic Wheeled Robot","volume":"42","author":"Tanida","year":"2024","journal-title":"J. Robot. Soc. Jpn."},{"key":"ref_29","doi-asserted-by":"crossref","first-page":"502","DOI":"10.7210\/jrsj.29.502","article-title":"Active\/Passive Hybrid Mechanism by Using Planetary Gear System","volume":"29","author":"Koganezawa","year":"2011","journal-title":"J. Robot. Soc. Jpn."},{"key":"ref_30","doi-asserted-by":"crossref","unstructured":"Seriani, S., Scalera, L., Caruso, M., Gasparetto, A., and Gallina, P. (2019). Upside-Down Robots: Modeling and Experimental Validation of Magnetic-Adhesion Mobile Systems. Robotics, 8.","DOI":"10.3390\/robotics8020041"}],"container-title":["Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/2218-6581\/13\/5\/72\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,10]],"date-time":"2025-10-10T14:41:28Z","timestamp":1760107288000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/2218-6581\/13\/5\/72"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2024,5,8]]},"references-count":30,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2024,5]]}},"alternative-id":["robotics13050072"],"URL":"https:\/\/doi.org\/10.3390\/robotics13050072","relation":{},"ISSN":["2218-6581"],"issn-type":[{"type":"electronic","value":"2218-6581"}],"subject":[],"published":{"date-parts":[[2024,5,8]]}}}