Design of Wheel Mechanism of Inspection Mobile Robot Using Electro Permanent Magnet

In recent years, civil engineering and construction structures such as bridges and tunnels are aging, and periodic inspections are becoming necessary. Therefore, robotics is expected to inspect bridges more efficiently and safely, and robots for inspection of civil engineering and construction structures are widely researched. In this study, we propose a combination of a propeller mechanism and an EPM (Electro Permanent Magnet) wheel to allow the robot to move on bridges of different materials. On concrete and other parts, the robot is driven by a propeller. When it detects that the bridge material is iron, the propeller is turned off and moved by the magnetic force of the EPM wheel.