I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
14
,
No
.
4
,
Dec
em
b
er
20
25
,
p
p
.
33
1
~
3
4
4
I
SS
N:
2722
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
14
i
4
.
pp
33
1
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344
331
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Desig
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y
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h
e
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it
c
o
m
e
s
to
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rro
m
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p
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m
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tac
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in
sp
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s.
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t
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ts.
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su
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ey
w
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d
s
:
Fin
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elem
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t m
eth
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d
m
ag
n
etics
Ma
g
n
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a
d
h
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Mo
b
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b
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t
Per
m
an
en
t
m
ag
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ets
Pip
elin
e
I
n
s
p
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tio
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T
h
is i
s
a
n
o
p
e
n
a
c
c
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ss
a
rticle
u
n
d
e
r th
e
CC B
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SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
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ing
A
uth
o
r
:
Ku
p
p
an
C
h
etty
R
am
an
ath
a
n
Sch
o
o
l o
f
Me
c
h
an
ical
E
n
g
in
e
er
in
g
,
SASTR
A
Dee
m
ed
to
b
e
Un
iv
er
s
ity
T
h
an
jav
u
r
,
T
am
il Na
d
u
,
6
1
3
4
0
1
,
I
n
d
ia
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m
ail:
k
u
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@
m
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.
s
astra
.
ed
u
1.
I
NT
RO
D
UCT
I
O
N
Pip
elin
e
in
s
p
ec
tio
n
r
o
b
o
ts
h
a
v
e
r
ec
eiv
ed
a
b
u
n
d
an
t
atten
tio
n
in
th
e
in
d
u
s
tr
ial
s
ec
to
r
as
a
r
esu
lt
o
f
r
ec
en
t
tech
n
o
lo
g
ical
ad
v
an
ce
s
.
T
h
is
is
d
u
e
to
th
eir
wid
e
u
s
e
in
m
ain
ten
an
ce
an
d
in
s
p
ec
tio
n
ap
p
licatio
n
s
lik
e
d
etec
tin
g
cr
ac
k
s
,
co
r
r
o
s
io
n
,
an
d
ag
ein
g
.
Sin
ce
it
is
d
an
g
er
o
u
s
f
o
r
h
u
m
an
s
to
clim
b
h
ig
h
-
altitu
d
e
p
i
p
es,
p
ip
elin
e
in
s
p
ec
tio
n
r
o
b
o
ts
ar
e
u
s
ed
to
d
o
th
eir
jo
b
s
.
Pip
elin
e
in
s
p
ec
tio
n
s
ar
e
d
o
n
e
in
two
way
s
:
o
n
e
is
in
-
p
ip
e
in
s
p
ec
tio
n
[
1
]
,
[
2
]
,
an
d
th
e
o
t
h
er
is
out
-
p
ip
e
i
n
s
p
ec
tio
n
[
3
]
,
[
4
]
.
T
h
e
in
-
p
ip
e
r
o
b
o
ts
h
av
e
s
e
en
d
ev
elo
p
m
en
ts
in
th
e
p
ast
d
ec
ad
e,
a
n
d
th
ei
r
m
o
b
ilit
y
in
s
id
e
th
e
p
ip
elin
e
was
s
tu
d
ied
in
[
5
]
–
[
7
]
.
T
h
e
f
lo
w
i
n
s
id
e
th
e
p
ip
elin
es
s
h
o
u
ld
b
e
s
to
p
p
ed
to
d
ep
lo
y
in
-
p
ip
e
in
s
p
ec
tio
n
r
o
b
o
ts
.
T
h
er
ef
o
r
e,
in
d
u
s
tr
ies
p
r
ef
er
out
-
p
ip
e
in
s
p
ec
tio
n
r
o
b
o
ts
b
ec
au
s
e
it
d
o
es
n
o
t
n
ee
d
to
s
to
p
th
e
f
lo
w
in
p
ip
elin
es
[
8
]
.
I
n
d
u
s
tr
ies
h
av
e
p
i
p
elin
es
in
h
ig
h
-
altitu
d
e
p
lace
s
an
d
r
eq
u
ir
e
r
o
b
o
ts
th
at
ca
n
clim
b
v
er
tical
p
ip
es.
Ver
tical
m
o
tio
n
h
as
d
if
f
er
en
t
ty
p
es
o
f
ad
h
esio
n
s
y
s
tem
s
,
wh
ich
ar
e
d
iv
id
e
d
in
to
f
iv
e
d
if
f
er
e
n
t
ty
p
es
[
9
]
,
[
1
0
]
.
Ad
h
esio
n
m
eth
o
d
s
co
n
s
is
t
o
f
b
io
m
etr
ic
[
1
1
]
,
[
1
2
]
,
v
ac
u
u
m
s
u
ctio
n
[
1
3
]
,
r
ail
-
g
u
id
ed
[
1
4
]
,
[
1
5
]
,
g
r
ip
p
in
g
[
1
6
]
,
an
d
m
ag
n
etic
[
1
7
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
33
1
-
3
4
4
332
T
h
e
b
io
m
etr
ic
ad
h
esio
n
in
[
1
8
]
co
n
s
is
ts
o
f
g
ec
k
o
s
th
at
p
r
o
v
id
e
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ar
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s
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with
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r
eq
u
ir
ed
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d
h
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ce
[
1
3
]
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[
1
9
]
.
I
t
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e
m
o
s
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m
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ly
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s
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ty
p
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s
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d
is
n
o
t
lim
ited
to
a
p
ar
ticu
lar
s
u
r
f
ac
e
.
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t
ca
n
b
e
u
s
ed
o
n
g
lass
,
tiles
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s
teel,
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f
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h
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r
ail
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g
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id
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a
d
h
esio
n
[
1
5
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u
s
es
r
ails
to
g
ain
th
e
n
ec
ess
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y
tr
ac
tio
n
f
o
r
m
o
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e
r
o
b
o
t
v
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tically
.
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ails
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e
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o
r
p
r
o
v
id
in
g
th
e
n
ec
ess
ar
y
ad
h
esio
n
.
R
o
b
o
ts
u
s
in
g
th
e
g
r
ip
m
ec
h
a
n
is
m
ar
e
co
m
m
o
n
ly
u
s
ed
in
p
la
ce
s
wh
er
e
f
o
r
ce
m
o
n
ito
r
in
g
is
r
eq
u
ir
e
d
[
1
6
]
.
T
h
e
lim
itatio
n
o
f
v
ac
u
u
m
-
ty
p
e
ad
h
esio
n
is
th
at
it
ca
n
o
n
l
y
p
r
o
v
id
e
th
e
n
ec
ess
ar
y
a
d
h
esio
n
o
n
s
m
o
o
th
s
u
r
f
ac
es.
T
h
e
lim
itatio
n
o
f
th
e
g
r
ip
p
i
n
g
ty
p
e
an
d
r
ail
ty
p
e
is
th
at
it
is
r
estricte
d
to
a
p
ar
ticu
lar
r
eg
i
o
n
b
u
t
h
av
e
a
h
i
g
h
p
ay
lo
ad
ca
r
r
y
in
g
ca
p
ac
ity
,
an
d
th
e
b
io
m
etr
ic
ty
p
e
h
as a
v
er
y
lo
w
p
ay
lo
ad
ca
r
r
y
i
n
g
ca
p
ac
ity
[
9
]
.
Fer
r
o
m
ag
n
etic
p
i
p
es a
r
e
wid
ely
u
s
ed
in
th
e
p
etr
o
leu
m
,
e
n
er
g
y
,
an
d
c
h
em
ical
in
d
u
s
tr
ies
[
2
0
]
.
Ver
tical
m
o
tio
n
in
f
er
r
o
u
s
s
u
r
f
ac
es
p
l
ay
s
an
im
p
o
r
ta
n
t
r
o
le
in
d
esi
g
n
in
g
an
d
d
e
v
elo
p
in
g
a
p
i
p
elin
e
in
s
p
ec
tio
n
r
o
b
o
t
[
9
]
.
Ma
g
n
etic
ad
h
esio
n
,
ty
p
ic
ally
u
s
in
g
p
er
m
a
n
en
t
m
ag
n
ets
as
wh
ee
ls
,
tr
ac
k
s
,
o
r
b
o
d
y
at
tach
m
en
ts
,
en
ab
les
v
er
tical
m
o
b
ilit
y
.
T
h
is
m
eth
o
d
o
f
f
er
s
ad
v
a
n
tag
es
s
u
ch
as
h
ig
h
p
ay
lo
a
d
ca
p
ac
ity
,
p
o
wer
-
f
r
ee
o
p
er
atio
n
,
an
d
s
af
ety
d
u
r
in
g
p
o
wer
lo
s
s
.
Am
o
n
g
v
a
r
io
u
s
ad
h
esio
n
m
eth
o
d
s
,
m
ag
n
etic
wh
ee
ls
ar
e
p
r
ef
er
r
e
d
,
as b
o
d
y
-
m
o
u
n
te
d
m
ag
n
ets ca
n
in
d
u
ce
s
ig
n
if
ican
t stru
ctu
r
al
s
tr
ess
[
1
7
]
,
[
2
1
]
.
O
ut
-
p
ip
e
r
o
b
o
ts
u
s
e
a
g
r
i
p
p
in
g
m
ec
h
a
n
is
m
,
o
r
t
h
e
r
o
b
o
ts
a
r
e
m
ad
e
b
ig
g
er
t
h
an
th
e
o
u
ter
d
iam
eter
o
f
th
e
p
ip
e,
an
d
t
h
u
s
th
e
s
ize
o
f
th
e
r
o
b
o
t
i
n
cr
ea
s
es
as
th
e
p
ip
elin
e
cir
c
u
m
f
er
e
n
ce
in
c
r
ea
s
es
[
3
]
,
[
4
]
,
[
2
2
]
.
E
n
o
r
m
o
u
s
r
esear
ch
is
d
o
n
e
o
n
m
ag
n
etic
wh
ee
led
r
o
b
o
ts
o
n
co
n
ca
v
e
s
u
r
f
ac
es
[
2
3
]
,
an
d
t
h
ey
ar
e
u
s
ed
f
o
r
in
-
p
ip
e
in
s
p
ec
tio
n
.
Ho
wev
er
,
th
e
r
esear
ch
o
n
m
ag
n
etic
wh
ee
le
d
r
o
b
o
ts
o
n
co
n
v
ex
s
u
r
f
ac
es
(
o
ut
-
p
ip
e
r
o
b
o
ts
)
is
lim
ited
.
T
h
er
e
f
o
r
e,
in
th
is
wo
r
k
,
th
e
f
o
c
u
s
is
o
n
d
e
v
elo
p
in
g
a
co
m
p
ac
t
r
o
b
o
t
th
at
ca
n
m
a
n
e
u
v
er
o
v
er
o
u
t
-
p
ip
es
(
co
n
v
e
x
s
u
r
f
ac
es).
T
h
is
p
ap
er
p
r
esen
ts
th
e
d
esig
n
,
s
im
u
latio
n
,
an
d
f
ab
r
icatio
n
o
f
c
ilam
p
i,
a
m
o
d
u
lar
m
ag
n
eti
c
wh
ee
led
r
o
b
o
t
f
o
r
clim
b
in
g
v
e
r
tical
f
er
r
o
m
ag
n
etic
p
ip
es
with
d
ia
m
eter
s
≥
2
0
0
m
m
.
T
h
e
r
o
b
o
t’
s
wh
ee
l
m
ec
h
an
is
m
en
s
u
r
es
co
n
tin
u
o
u
s
c
o
n
tact
with
th
e
p
i
p
e
s
u
r
f
ac
e
,
ad
a
p
t
in
g
to
v
ar
y
in
g
cu
r
v
atu
r
es.
C
ilam
p
i
ca
n
ascen
d
v
er
tically
o
r
f
o
llo
w
a
h
elica
l
p
ath
f
o
r
en
h
a
n
ce
d
m
an
eu
v
er
a
b
ilit
y
.
Ma
g
n
etic
ad
h
esio
n
f
o
r
c
e
is
an
aly
ze
d
u
s
in
g
f
in
ite
elem
en
t m
eth
o
d
m
ag
n
etics
(
FEM
M
)
s
im
u
latio
n
s
an
d
v
alid
ated
ex
p
er
im
e
n
tally
.
T
h
e
r
o
b
o
t is p
o
wer
e
d
b
y
a
2
2
0
0
m
Ah
1
S
L
iPo
b
atter
y
,
o
f
f
er
in
g
u
p
to
4
4
m
in
u
tes
o
f
o
p
er
atio
n
in
lab
s
ettin
g
s
.
T
h
is
wo
r
k
ad
d
r
ess
es
lim
itatio
n
s
in
ex
is
tin
g
ex
ter
n
al
p
ip
elin
e
in
s
p
ec
tio
n
tec
h
n
o
l
o
g
ies.
2.
M
AG
NE
T
I
C
ADH
E
SI
O
N
U
SI
NG
F
E
M
M
T
h
e
m
ag
n
etic
ad
h
esio
n
f
o
r
ce
is
d
eter
m
in
ed
u
s
in
g
FEM
M
s
o
f
twar
e.
I
t
is
u
s
ed
f
o
r
s
o
lv
in
g
m
ag
n
etic
f
ield
p
r
o
b
lem
s
[
2
4
]
.
T
h
e
p
r
o
ce
s
s
in
v
o
lv
es
m
o
d
ellin
g
t
h
e
g
eo
m
etr
y
o
f
th
e
m
ag
n
et
with
p
r
o
p
er
d
im
en
s
io
n
s
.
T
h
e
b
o
u
n
d
ar
y
co
n
d
itio
n
s
a
n
d
th
e
m
ater
ial
p
r
o
p
er
ties
ar
e
ass
ig
n
ed
t
o
t
h
e
r
esp
ec
tiv
e
s
y
s
tem
s
.
T
h
en
tr
ian
g
u
lar
m
esh
is
u
s
ed
f
o
r
co
m
p
u
tatio
n
al
ac
cu
r
ac
y
,
an
d
u
s
in
g
th
e
FEM
M
s
o
lv
er
,
m
ag
n
etic
ad
h
esio
n
ca
n
b
e
f
o
u
n
d
.
T
h
e
v
is
u
aliza
tio
n
o
f
f
lu
x
d
e
n
s
ity
an
d
th
e
r
esu
lt in
ter
p
r
etatio
n
ca
n
b
e
d
o
n
e
u
s
in
g
t
h
e
p
o
s
t
-
p
r
o
ce
s
s
in
g
to
o
ls
.
2
.
1
Select
io
n o
f
ring
m
a
g
net
s
T
h
e
r
in
g
m
ag
n
et
ad
h
esio
n
is
b
ased
o
n
th
e
m
a
g
n
ets’
s
ize,
q
u
ality
,
a
n
d
q
u
an
tity
.
T
h
e
r
in
g
ty
p
e
p
er
m
an
en
t
m
ag
n
et
(
PM
)
is
m
a
d
e
f
r
o
m
n
e
o
d
y
m
iu
m
-
ir
o
n
-
b
o
r
o
n
(
Nd
FeB
)
a
n
d
is
a
p
o
wer
f
u
l p
er
m
an
en
t
m
ag
n
et,
th
e
n
am
e
o
f
wh
ic
h
b
eg
in
s
wit
h
“N”
f
o
llo
wed
b
y
two
n
u
m
b
er
s
.
T
h
e
“N”
r
ep
r
esen
ts
Neo
d
y
m
iu
m
,
an
d
th
e
two
n
u
m
b
er
s
in
d
icate
th
e
m
a
x
im
u
m
en
er
g
y
p
r
o
d
u
ct
in
Me
g
a
Gau
s
s
-
Oer
s
ted
(
MG
Oe
)
.
T
h
e
N5
2
g
r
ad
e
m
a
g
n
et
p
r
o
v
id
es
th
e
b
est
ad
h
esio
n
,
b
u
t
its
m
ar
k
et
av
ailab
ilit
y
is
l
im
i
ted
.
So
,
th
e
N3
5
g
r
ad
e
was
ch
o
s
en
f
o
r
th
is
s
tu
d
y
d
u
e
to
its
av
ailab
ilit
y
in
th
e
m
ar
k
et.
T
o
d
eter
m
in
e
th
e
m
o
s
t
s
u
itab
le
d
im
en
s
io
n
o
f
r
in
g
PM,
s
im
u
latio
n
s
an
d
an
aly
s
is
ar
e
p
er
f
o
r
m
e
d
o
n
r
in
g
m
ag
n
ets
with
d
if
f
e
r
en
t
i
n
n
er
d
iam
eter
s
(
I
D)
,
th
ick
n
e
s
s
es,
an
d
s
tan
d
-
o
f
f
d
is
tan
ce
s
.
2
.
2
.
M
o
del
cr
ea
t
io
n a
nd
ma
t
er
ia
l selec
t
io
n
T
h
e
FEM
M
s
o
f
twar
e’
s
b
u
ilt
-
in
to
o
ls
ar
e
u
tili
s
ed
to
d
r
aw
a
2
D
d
iag
r
am
o
f
th
e
r
in
g
m
ag
n
et
an
d
s
u
r
f
ac
e.
T
h
e
m
o
d
el
is
th
en
s
u
r
r
o
u
n
d
ed
b
y
a
cir
cle,
wh
ich
ac
ts
a
s
th
e
b
o
u
n
d
ar
y
.
T
h
e
b
o
u
n
d
a
r
y
s
er
v
es
as
a
g
eo
m
etr
ic
b
o
u
n
d
ar
y
f
o
r
th
e
an
aly
s
is
d
o
m
ain
,
s
ep
ar
atin
g
th
e
r
eg
io
n
o
f
in
te
r
est
f
r
o
m
th
e
s
u
r
r
o
u
n
d
in
g
s
p
ac
e.
T
o
av
o
id
d
ir
ec
t
co
n
tact
b
etwe
en
th
e
m
ag
n
et
an
d
th
e
s
u
r
f
ac
e,
it
is
n
ec
es
s
ar
y
to
m
ain
tain
a
s
tan
d
-
o
f
f
d
is
tan
ce
(
SOD)
o
f
at
least
0
.
5
mm
[
2
5
]
.
I
f
th
e
m
ag
n
et
co
m
es
in
to
co
n
tact
with
th
e
s
u
r
f
ac
e,
it
will
i
m
p
ed
e
th
e
wh
ee
l’
s
m
o
v
em
en
t,
m
ak
in
g
it n
ec
ess
ar
y
to
m
ain
tain
a
d
is
tan
ce
to
allo
w
f
o
r
p
r
o
p
er
f
u
n
ctio
n
in
g
.
T
h
e
m
ater
ial
f
o
r
ea
ch
co
m
p
o
n
en
t
is
s
elec
ted
af
ter
th
e
m
o
d
el
is
cr
ea
ted
.
T
h
e
m
ater
ials
co
n
s
is
t
o
f
a
f
er
r
o
m
a
g
n
etic
p
i
p
e
m
a
d
e
o
f
1
0
2
0
ca
r
b
o
n
s
teel,
r
o
b
o
t
ch
ass
is
an
d
m
o
to
r
m
o
u
n
t
m
a
d
e
o
f
p
o
ly
lactic
ac
id
(
PLA)
[
2
6
]
,
a
m
ag
n
etic
wh
ee
l
m
ad
e
o
f
Alu
m
in
iu
m
6
0
6
1
an
d
Neo
d
y
m
iu
m
N3
5
m
a
g
n
et.
T
h
e
m
ater
ial
p
r
o
p
er
ties
o
f
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f a
mo
d
u
la
r
ma
g
n
etic
w
h
ee
led
r
o
b
o
t fo
r
o
u
t
-
p
ip
e
… (
S
u
g
in
E
la
n
ka
vi
R
a
jen
d
r
a
n
)
333
th
ese
m
ater
ials
ar
e
s
elec
ted
f
r
o
m
th
e
b
u
ilt
-
in
lib
r
ar
y
in
FE
MM
s
o
f
twar
e.
T
h
e
m
ater
ial
s
elec
ted
f
o
r
th
e
r
o
b
o
t
ch
ass
is
an
d
th
e
m
o
to
r
m
o
u
n
t i
s
p
o
ly
lactic
ac
id
(
PLA)
.
T
h
e
y
ar
e
co
m
m
o
n
ly
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n
3
D
p
r
in
tin
g
tech
n
o
l
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ab
r
icatin
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t.
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h
is
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is
s
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f
o
r
th
e
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t
to
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r
ea
s
e
its
weig
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t,
wh
ich
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ed
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ce
s
th
e
p
ay
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o
ad
o
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th
e
r
o
b
o
t.
As
m
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e
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ea
r
lier
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e
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5
is
s
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as
th
e
m
ater
ial
f
o
r
th
e
r
in
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ag
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et.
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h
e
m
ater
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r
th
e
f
er
r
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m
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g
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as
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teel,
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m
o
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in
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W
an
g
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d
Kaw
am
u
r
a
[
2
7
]
h
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r
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ac
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s
u
r
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es r
esu
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ates
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el
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ater
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u
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1
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u
r
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2
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Ma
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r
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o
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ig
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r
atio
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o
f
R
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u
r
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3
.
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SOD
2
.
4
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M
a
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f
ring
ma
g
net
f
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ry
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ll t
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s
T
h
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im
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eter
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ich
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lated
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o
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ick
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r
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m
1
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1
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Fig
u
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4
s
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Fig
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4
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ased
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Desig
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Fig
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4
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ased
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3.
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g
m
ag
n
et
with
an
Ou
ter
Diam
et
er
(
OD)
o
f
5
0
m
m
,
an
I
D
o
f
1
0
m
m
,
an
d
a
th
ic
k
n
ess
o
f
1
2
.
5
m
m
is
s
elec
ted
f
o
r
th
e
d
esig
n
.
T
h
e
s
elec
ted
SOD
is
0
.
5
m
m
,
a
n
d
b
ased
o
n
t
h
ese
v
alu
es,
th
e
m
ag
n
etic
wh
ee
l
is
d
esig
n
ed
s
o
th
at
th
e
m
ag
n
et
will
alwa
y
s
h
av
e
a
s
tan
d
-
o
f
f
d
is
tan
ce
o
f
0
.
5
m
m
wh
en
it
is
in
co
n
tact
with
th
e
s
u
r
f
ac
e,
as
s
h
o
wn
in
Fig
u
r
e
5
.
T
h
e
m
ag
n
etic
wh
e
el
th
at
h
as
b
ee
n
d
esig
n
e
d
is
co
m
p
o
s
ed
o
f
two
m
o
d
u
les
wh
ich
f
o
r
m
th
e
wh
ee
l
an
d
estab
lis
h
th
e
SO
D.
Alu
m
in
iu
m
6
0
6
1
is
u
s
ed
to
h
o
ld
th
e
r
in
g
m
ag
n
et
d
u
e
to
its
lig
h
tweig
h
t stre
n
g
th
an
d
ab
ilit
y
to
f
ac
ilit
ate
th
e
h
an
d
lin
g
o
f
th
e
p
er
m
an
e
n
t
m
ag
n
et.
Alu
m
in
i
u
m
6
0
6
1
o
f
f
e
r
s
an
ad
v
an
tag
e
o
v
er
f
e
r
r
o
m
a
g
n
etic
m
ater
ials
as
it
ea
s
es
th
e
p
lace
m
en
t
an
d
d
etac
h
m
en
t
o
f
th
e
m
ag
n
ets
f
r
o
m
th
e
wh
ee
l.
Fig
u
r
e
6
s
h
o
ws
th
e
s
o
lid
m
o
d
el
o
f
t
h
e
m
a
g
n
etic
w
h
ee
l
f
o
r
cilam
p
i
in
an
ex
p
l
o
d
ed
v
ie
w.
T
h
e
c
ilam
p
i
r
o
b
o
t
is
d
esig
n
ed
with
f
lex
ib
ilit
y
in
m
in
d
,
ab
le
to
ca
r
r
y
eith
er
a
ca
m
er
a
f
o
r
v
is
u
al
in
s
p
ec
tio
n
s
o
r
an
u
ltra
s
o
n
ic
p
r
o
b
e
f
o
r
ch
ec
k
in
g
s
tr
u
ctu
r
al
in
teg
r
ity
.
W
h
ile
it
ca
n
o
n
ly
ca
r
r
y
o
n
e
s
en
s
o
r
at
a
tim
e,
its
m
o
d
u
lar
s
etu
p
allo
ws
f
o
r
ea
s
y
s
wap
p
in
g
d
e
p
en
d
i
n
g
o
n
th
e
task
at
h
a
n
d
.
T
h
is
m
ak
es
th
e
r
o
b
o
t
a
d
ap
tab
le,
wh
et
h
e
r
y
o
u
'
r
e
u
s
in
g
it
f
o
r
v
is
u
al
in
s
p
ec
tio
n
s
o
f
p
i
p
elin
e
s
u
r
f
ac
es o
r
u
ltra
s
o
n
ic
test
in
g
t
o
d
etec
t c
r
ac
k
s
an
d
co
r
r
o
s
io
n
.
Fig
u
r
e
5
.
Ma
g
n
etic
wh
ee
l d
im
en
s
io
n
s
Fig
u
r
e
6
.
E
x
p
lo
d
ed
v
iew
o
f
th
e
m
ag
n
etic
wh
ee
l f
o
r
c
ilam
p
i
A
FEM
M
s
im
u
latio
n
was
co
n
d
u
cted
to
d
eter
m
i
n
e
th
e
m
ag
n
etic
ad
h
esio
n
f
o
r
ce
p
r
o
d
u
ce
d
b
y
th
e
r
in
g
m
ag
n
et
ag
ain
s
t
a
f
er
r
o
m
ag
n
e
tic
s
u
r
f
ac
e.
T
wo
r
in
g
m
ag
n
ets
wer
e
p
lace
d
0
.
5
m
m
f
r
o
m
th
e
f
er
r
o
m
a
g
n
etic
s
u
r
f
ac
e,
h
av
i
n
g
a
th
ic
k
n
ess
o
f
2
m
m
a
n
d
a
n
o
u
ter
d
iam
et
er
o
f
4
0
0
m
m
.
Fig
u
r
e
7
s
h
o
ws
th
e
m
o
d
el
an
d
m
ater
ial
ass
ig
n
m
en
t
f
o
r
two
m
ag
n
etic
wh
ee
ls
p
lace
d
o
n
t
h
e
f
er
r
o
m
ag
n
etic
s
u
r
f
ac
e.
T
h
e
s
im
u
latio
n
r
esu
lts
s
h
o
w
th
at
u
s
in
g
m
u
ltip
le
m
ag
n
ets
ca
n
b
e
m
o
r
e
ef
f
ec
tiv
e
i
n
g
en
er
atin
g
a
s
tr
o
n
g
er
m
ag
n
etic
ad
h
esio
n
f
o
r
ce
co
m
p
ar
ed
to
u
s
in
g
a
s
in
g
le
m
ag
n
et.
T
h
e
m
a
g
n
etic
a
d
h
esio
n
f
o
r
ce
g
e
n
er
ated
b
y
two
m
ag
n
ets
is
8
8
.
3
9
N
(
9
Kg
)
.
Fig
u
r
e
8
s
h
o
ws th
e
r
esu
lt
s
o
f
th
e
s
im
u
latio
n
s
tu
d
ies.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
14
,
No
.
4
,
Dec
em
b
er
20
25
:
33
1
-
3
4
4
336
Fig
u
r
e
7
.
FEM
M
Mo
d
el
o
f
tw
o
m
ag
n
etic
wh
ee
ls
ag
ain
s
t th
e
f
er
r
o
m
a
g
n
etic
s
u
r
f
ac
e
Fig
u
r
e
8
.
Flu
x
d
is
tr
ib
u
tio
n
o
f
t
wo
m
ag
n
ets
4.
DE
S
I
G
N
O
F
CIL
A
M
P
I
Pre
v
io
u
s
s
tu
d
ies
[
6
]
–
[
8
]
s
h
o
w
th
at
p
i
p
elin
e
in
s
p
ec
tio
n
r
o
b
o
ts
ar
e
u
s
u
ally
d
esig
n
ed
to
m
atch
th
e
p
ip
e'
s
cir
cu
m
f
er
en
ce
,
wh
ich
m
ak
es
th
em
lar
g
er
.
As
th
e
p
ip
e
d
iam
eter
in
cr
ea
s
es,
th
e
r
o
b
o
t
s
ize
also
in
cr
ea
s
es.
T
o
s
o
lv
e
th
is
p
r
o
b
lem
,
a
co
m
p
ac
t
r
o
b
o
t
is
n
ee
d
ed
th
at
ca
n
ad
ju
s
t
to
d
if
f
er
en
t
p
ip
elin
e
d
iam
eter
s
with
o
u
t
ch
an
g
in
g
its
s
ize.
T
h
e
p
r
o
to
ty
p
e
o
f
th
is
r
o
b
o
t
was
d
esig
n
ed
an
d
m
o
d
eled
in
So
lid
W
o
r
k
s
.
T
h
e
g
o
al
was
to
cr
ea
te
a
s
m
all,
lig
h
tweig
h
t
o
u
t
-
p
ip
e
in
s
p
ec
tio
n
r
o
b
o
t
with
m
ag
n
etic
wh
ee
ls
.
T
h
is
r
o
b
o
t
ca
n
clim
b
v
er
tical
p
ip
es
wh
ile
ca
r
r
y
in
g
its
o
wn
weig
h
t
an
d
ex
tr
a
lo
a
d
if
n
ee
d
ed
.
T
h
e
m
ain
p
ar
ts
o
f
th
e
r
o
b
o
t
ar
e
th
e
ch
ass
is
,
m
o
to
r
m
o
u
n
tin
g
b
r
ac
k
et,
m
o
t
o
r
,
an
d
m
a
g
n
etic
wh
ee
ls
,
as
s
h
o
wn
in
Fig
u
r
e
9
.
T
h
e
r
o
b
o
t’
s
d
esig
n
is
ce
n
ter
ed
ar
o
u
n
d
its
ch
ass
is
,
wh
ich
is
th
e
m
ain
b
o
d
y
.
T
h
e
ch
ass
is
h
o
ld
s
th
e
m
o
to
r
m
o
u
n
tin
g
b
r
ac
k
et,
m
o
to
r
,
an
d
m
ag
n
etic
wh
ee
ls
s
ec
u
r
ely
in
p
lace
.
C
ilam
p
i
is
a
d
if
f
er
en
ti
al
d
r
iv
e
r
o
b
o
t
with
two
wh
ee
ls
th
at
ar
e
n
o
t
in
a
s
tr
aig
h
t
lin
e
(
n
o
n
-
co
-
lin
ea
r
)
.
T
h
e
wh
ee
ls
a
r
e
p
lace
d
wit
h
a
s
m
all
s
h
if
t
i
n
b
o
th
later
al
an
d
l
o
n
g
itu
d
in
al
d
ir
ec
tio
n
s
.
T
h
is
h
el
p
s
th
e
r
o
b
o
t
m
o
v
e
b
etter
a
n
d
a
d
ju
s
t
to
t
h
e
cu
r
v
ed
p
ip
elin
e
s
u
r
f
ac
e.
T
h
e
f
o
llo
win
g
ar
e
th
e
ass
u
m
p
tio
n
s
an
d
p
ar
am
eter
s
u
s
ed
in
d
esig
n
an
d
s
im
u
latio
n
:
T
h
e
p
ip
e
is
cy
lin
d
r
ical
with
a
m
in
im
u
m
o
u
ter
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2722
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t
o
f a
mo
d
u
la
r
ma
g
n
etic
w
h
ee
led
r
o
b
o
t fo
r
o
u
t
-
p
ip
e
… (
S
u
g
in
E
la
n
ka
vi
R
a
jen
d
r
a
n
)
337
d
iam
eter
o
f
2
0
0
m
m
,
th
e
c
o
ef
f
icien
t
o
f
f
r
ictio
n
b
etwe
en
Al
u
m
in
iu
m
a
n
d
Mild
s
teel
is
0
.
6
1
,
Ma
g
n
et
is
p
lace
d
at
a
co
n
s
tan
t Stan
d
o
f
f
d
is
tan
ce
o
f
0
.
5
m
m
.
Fig
u
r
e
9
.
Desig
n
a
n
d
k
e
y
co
m
p
o
n
en
ts
o
f
th
e
c
ilam
p
i
o
u
t
-
p
ip
e
in
s
p
ec
tio
n
r
o
b
o
t
C
ilam
p
i
f
ea
tu
r
es
two
wh
ee
ls
—
o
n
e
o
n
ea
c
h
s
id
e
—
f
o
r
b
ala
n
ce
d
s
u
p
p
o
r
t,
r
e
d
u
ce
d
weig
h
t,
an
d
s
p
ac
e
f
o
r
s
en
s
o
r
s
.
Usi
n
g
a
4
0
0
m
m
d
iam
eter
p
ip
e
as
r
ef
er
e
n
ce
,
o
p
tim
al
wh
ee
l
s
p
ac
in
g
was
d
eter
m
in
ed
b
y
ad
j
u
s
tin
g
th
e
7
0
m
m
m
o
t
o
r
m
o
u
n
ts
to
av
o
id
co
n
tact
with
th
e
p
ip
e
s
u
r
f
ac
e,
r
esu
ltin
g
in
a
5
6
m
m
g
ap
b
etwe
en
th
em
.
T
h
is
s
etu
p
y
ield
s
an
id
ea
l
wh
ee
l
ce
n
ter
-
to
-
ce
n
te
r
d
is
tan
ce
o
f
1
3
0
m
m
,
en
s
u
r
i
n
g
co
n
tin
u
o
u
s
s
u
r
f
ac
e
co
n
tact
an
d
s
tab
ilit
y
.
E
ac
h
wh
ee
l
p
r
o
v
i
d
e
s
a
m
ag
n
etic
ad
h
esio
n
f
o
r
ce
o
f
4
.
7
k
g
.
T
h
e
r
o
b
o
t'
s
to
tal
w
eig
h
t,
ca
lcu
lated
in
So
lid
W
o
r
k
s
,
is
0
.
9
8
k
g
.
W
ith
t
h
e
ch
ass
is
f
in
alize
d
,
m
o
to
r
t
o
r
q
u
e
r
eq
u
ir
em
en
ts
ar
e
n
ex
t to
b
e
ca
lcu
lated
.
5.
K
I
NE
M
AT
I
CS
O
F
T
H
E
D
I
F
F
E
RE
N
T
I
AL
DRIV
E
M
O
B
I
L
E
RO
B
O
T
W
I
T
H
NO
N
-
CO
-
L
I
N
E
AR
WH
E
E
L
S
C
ilam
p
i
is
a
d
if
f
e
r
en
tial
d
r
iv
e
m
o
b
ile
r
o
b
o
t
with
wh
ee
ls
th
at
ar
e
No
n
-
Co
-
L
in
ea
r
(
NC
L
)
,
h
av
in
g
a
n
o
f
f
s
et
in
b
o
th
y
-
an
d
x
–
ax
is
as
illu
s
tr
ated
in
Fig
u
r
e
1
0
.
T
h
u
s
,
th
e
k
in
em
atic
m
o
d
el
o
f
cilam
p
i
d
if
f
er
s
f
r
o
m
th
e
tr
ad
itio
n
al
m
o
d
els.
W
h
ich
is
g
iv
en
as f
o
llo
ws.
Fig
u
r
e
1
0
.
T
h
e
d
i
f
f
er
en
tial d
r
i
v
e
m
o
b
ile
r
o
b
o
t w
ith
w
h
ee
ls
th
at
ar
e
n
o
t c
o
-
lin
ea
r
,
ex
h
i
b
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o
f
f
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in
b
o
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h
th
e
y
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wh
ee
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ase
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an
d
th
e
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later
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o
f
f
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L
et
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L
in
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r
v
elo
city
o
f
th
e
r
o
b
o
t;
–
An
g
u
lar
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city
o
f
th
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r
o
b
o
t;
,
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p
o
s
itio
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th
e
r
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t
w.
r
.
t
th
e
g
lo
b
al
f
r
am
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-
Or
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r
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b
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t;
X,
Y
-
t
h
e
f
ix
e
d
g
lo
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al
f
r
am
e.
R
–
W
h
ee
l
r
ad
iu
s
;
–
t
h
e
d
is
tan
ce
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etwe
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th
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wh
ee
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n
g
th
e
Y
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ax
is
;
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th
e
d
is
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ce
b
etwe
en
th
e
wh
ee
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n
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th
e
X
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ax
is
;
C
–
C
h
o
r
d
len
g
th
o
f
t
h
e
p
ip
e;
,
–
t
h
e
lin
ea
r
v
elo
city
o
f
th
e
lef
t
a
n
d
r
ig
h
t
wh
ee
ls
,
r
esp
ec
tiv
ely
;
,
–
th
e
an
g
u
lar
v
elo
city
o
f
th
e
lef
t a
n
d
r
ig
h
t w
h
ee
ls
,
r
esp
ec
tiv
el
y
.
W
e
k
n
o
w
th
at
th
e
lin
ea
r
v
elo
c
ity
‘
’
is
g
iv
en
b
y
(
1
)
,
Evaluation Warning : The document was created with Spire.PDF for Python.
I
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2
7
2
2
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6
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m
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Vo
l
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14
,
No
.
4
,
Dec
em
b
er
20
25
:
33
1
-
3
4
4
338
=
+
2
(
1
)
w
h
er
e,
=
.
an
d
=
.
.
T
h
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f
ec
tiv
e
r
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d
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s
to
th
e
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s
tan
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ce
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ter
o
f
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(
I
C
R
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,
ac
co
u
n
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g
f
o
r
b
o
th
wh
ee
l o
f
f
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ets,
is
g
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y
(
2
)
.
=
√
(
2
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2
+
(
2
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2
(
2
)
An
g
u
lar
v
el
o
city
o
f
th
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o
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o
t i
s
d
eter
m
in
ed
b
y
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e
r
elativ
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elo
cities o
f
th
e
wh
ee
ls
an
d
is
g
iv
en
b
y
(
3
)
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=
(
−
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(
3
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Fro
m
(
1
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,
(
2
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,
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d
(
3
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,
th
e
g
lo
b
al
m
o
tio
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1
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.
̇
=
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=
+
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=
(
4
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E
q
u
atio
n
(
4
)
g
i
v
es
th
e
r
o
b
o
t'
s
p
o
s
itio
n
an
d
o
r
ien
tatio
n
in
th
e
g
lo
b
al
f
r
am
e.
T
h
e
ter
m
I
t
is
u
s
ed
f
o
r
ad
ju
s
tin
g
th
e
o
f
f
s
et
o
f
t
h
e
wh
ee
l
alo
n
g
th
e
x
-
a
x
is
.
T
h
is
s
h
o
ws
h
o
w
th
e
NC
L
ar
r
an
g
e
m
en
t
af
f
ec
ts
th
e
m
o
tio
n
o
f
th
e
r
o
b
o
t.
T
h
e
ab
o
v
e
k
in
em
atic
m
o
d
el
d
em
o
n
s
tr
ates
h
o
w
th
e
NC
L
wh
ee
l
co
n
f
ig
u
r
atio
n
m
o
d
if
ies
th
e
m
o
tio
n
b
e
h
av
io
r
co
m
p
ar
ed
t
o
co
n
v
en
tio
n
al
d
if
f
er
e
n
tial
d
r
iv
e
r
o
b
o
t
m
o
tio
n
in
tr
o
d
u
cin
g
o
f
f
s
ets
alo
n
g
b
o
th
ax
es,
th
e
r
o
b
o
t
m
ain
tain
s
co
n
tin
u
o
u
s
co
n
tact
with
c
u
r
v
ed
s
u
r
f
ac
es,
im
p
r
o
v
in
g
g
r
i
p
,
s
tab
ilit
y
,
an
d
ad
h
er
en
ce
,
p
ar
ticu
lar
ly
wh
en
n
av
i
g
atin
g
alo
n
g
cy
lin
d
r
ical
p
ip
es.
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h
e
i
n
clu
s
io
n
o
f
t
h
e
,
th
e
m
o
tio
n
e
q
u
atio
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s
e
n
s
u
r
es
th
at
tr
ajec
to
r
y
esti
m
atio
n
r
em
a
in
s
ac
cu
r
ate
d
u
r
i
n
g
r
o
tatio
n
an
d
cu
r
v
e
d
tr
av
e
r
s
al.
6.
DYNA
M
I
C
S
I
M
U
L
A
T
I
O
N
O
F
CIL
A
M
P
I
T
h
e
p
ay
l
o
ad
ca
p
ac
ity
o
f
th
e
r
o
b
o
t
is
d
eter
m
in
ed
th
r
o
u
g
h
d
y
n
am
ic
a
n
aly
s
is
.
T
h
e
a
n
aly
s
is
r
eq
u
ir
es
ce
r
tain
s
p
ec
if
icatio
n
s
as
in
p
u
t
s
,
s
u
ch
as
t
h
e
m
ater
ial
p
r
o
p
er
t
ies
o
f
th
e
m
a
g
n
etic
wh
ee
l
(
Al
u
m
in
iu
m
6
0
6
1
)
an
d
th
e
r
o
b
o
t
b
o
d
y
(
PLA)
.
Ad
d
itio
n
ally
,
th
e
m
o
to
r
s
p
ee
d
is
s
et
to
2
0
R
PM,
an
d
th
e
m
ag
n
etic
ad
h
esio
n
f
o
r
ce
is
g
iv
en
as
4
6
.
1
1
N
f
o
r
ea
ch
m
ag
n
etic
wh
ee
l.
T
h
e
s
im
u
latio
n
en
v
ir
o
n
m
en
t
in
v
o
lv
es
th
e
r
o
b
o
t
an
d
a
v
e
r
tical
wall,
with
th
e
r
o
b
o
t c
a
r
r
y
in
g
a
p
ay
lo
ad
as it m
o
v
es a
lo
n
g
th
e
wall.
Fig
u
r
e
1
1
s
h
o
ws
th
e
p
ay
l
o
ad
-
ca
r
r
y
in
g
ca
p
ac
ity
o
f
c
ilam
p
i.
First,
th
e
r
o
b
o
t
was
test
ed
with
o
n
l
y
its
weig
h
t
(
s
elf
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weig
h
t
0
.
9
8
k
g
)
,
an
d
it
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o
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s
er
v
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th
at
th
e
n
ec
ess
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to
r
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8
k
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0
7
Nm
.
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n
th
e
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u
b
s
eq
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en
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i
m
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,
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e
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s
p
ay
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d
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in
cr
ea
s
ed
(
in
clu
d
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t)
b
y
1
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k
g
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d
it
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o
b
s
er
v
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at
th
e
n
ec
ess
ar
y
to
r
q
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e
in
cr
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ed
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0
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1
2
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.
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ey
o
n
d
th
e
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ay
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ad
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f
1
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5
k
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th
e
r
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t
b
eg
in
s
to
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e
tr
ac
tio
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d
s
lip
.
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h
e
s
im
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latio
n
r
esu
lts
in
d
ic
ate
th
at
th
e
r
o
b
o
t
ca
n
ca
r
r
y
its
s
elf
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weig
h
t
o
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9
8
k
g
p
lu
s
an
a
d
d
itio
n
al
p
a
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o
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u
p
t
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0
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2
k
g
f
o
r
a
t
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tal
weig
h
t
o
f
1
.
5
k
g
,
with
a
n
ec
e
s
s
ar
y
to
r
q
u
e
o
f
0
.
1
2
Nm
.
B
ey
o
n
d
th
is
weig
h
t
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it,
th
e
r
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o
t
b
eg
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ex
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e
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lip
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icatin
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at
it
is
u
n
ab
le
to
ca
r
r
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e
lo
ad
ef
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.
Fig
u
r
e
1
1
.
Pay
lo
ad
ca
r
r
y
in
g
c
ap
ac
ity
o
f
c
ilam
p
i
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
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I
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J
R
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b
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A
u
to
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SS
N:
2722
-
2
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6
Desig
n
a
n
d
d
ev
elo
p
men
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f a
mo
d
u
la
r
ma
g
n
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w
h
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led
r
o
b
o
t fo
r
o
u
t
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p
ip
e
… (
S
u
g
in
E
la
n
ka
vi
R
a
jen
d
r
a
n
)
339
7.
E
XP
E
R
I
M
E
N
T
A
L
T
E
S
T
O
F
M
AG
NE
T
I
C
A
DH
E
S
I
O
N
O
F
RING
M
AG
NE
T
S
C
ilam
p
i
is
d
ev
elo
p
ed
th
r
o
u
g
h
3
D
p
r
in
tin
g
tec
h
n
o
lo
g
y
with
Po
ly
lactic
Acid
(
PLA)
as
m
ater
ial,
as
s
h
o
wn
in
Fig
u
r
e
1
2
.
I
t
co
n
s
is
ts
o
f
two
m
ag
n
etic
wh
ee
ls
.
T
h
e
wh
ee
l
m
o
d
u
les
h
av
e
a
lar
g
e
r
d
iam
eter
th
an
th
e
r
in
g
m
ag
n
et
(
N
3
5
)
,
wh
ic
h
en
s
u
r
es
th
at
th
e
SOD
i
s
alwa
y
s
0
.
5
m
m
b
etwe
en
th
e
m
a
g
n
et
an
d
f
er
r
o
m
ag
n
etic
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u
r
f
ac
e,
p
r
e
v
en
tin
g
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e
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ag
n
et
f
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m
a
d
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ir
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o
t
h
e
s
u
r
f
ac
e.
T
h
e
r
o
b
o
t
is
d
esig
n
ed
with
m
o
d
u
lar
p
ar
ts
,
m
ak
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it
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s
y
to
r
e
p
lac
e
th
em
if
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ess
ar
y
.
T
h
e
R
h
in
o
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3
7
1
2
V
m
o
to
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,
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s
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t
h
e
r
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t,
d
r
aws
3
0
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m
A
o
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cu
r
r
en
t
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m
o
to
r
.
Sin
ce
th
e
r
o
b
o
t
u
s
es
two
m
o
to
r
s
,
th
e
to
tal
cu
r
r
en
t
co
n
s
u
m
p
tio
n
f
r
o
m
th
e
m
o
to
r
s
is
600
m
A,
wh
ich
tr
an
s
lates
to
a
p
o
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co
n
s
u
m
p
tio
n
o
f
7
.
2
W
(
1
2
V
×
0
.
6
A)
.
T
h
e
L
2
9
8
N
m
o
to
r
d
r
iv
e
r
ad
d
s
0
.
7
2
W
.
T
h
e
E
SP
3
2
-
C
AM
m
o
d
u
le,
u
s
ed
f
o
r
in
s
p
ec
tio
n
,
co
n
s
u
m
es
0
.
9
W
wh
en
th
e
f
lash
is
o
f
f
.
I
n
to
tal,
th
e
r
o
b
o
t’
s
p
o
wer
co
n
s
u
m
p
tio
n
c
o
m
es
to
8
.
8
2
W
.
T
h
e
r
o
b
o
t
is
p
o
wer
e
d
b
y
a
2
2
0
0
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A
h
1
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L
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b
atter
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wh
ich
p
r
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v
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t 8
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1
4
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h
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3
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2
Ah
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o
f
en
er
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y
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d
er
id
ea
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o
n
d
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s
,
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is
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atter
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ld
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d
5
5
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o
u
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e
r
at
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n
.
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wev
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,
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g
in
to
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n
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wo
r
ld
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f
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ch
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p
o
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s
s
es in
th
e
m
o
to
r
d
r
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v
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an
d
b
atter
y
,
th
e
e
x
p
ec
ted
b
atter
y
li
f
e
is
clo
s
er
to
4
4
m
in
u
tes.
Fig
u
r
e
1
2
.
C
ilam
p
i p
r
o
to
ty
p
e
T
o
v
alid
ate
th
e
s
im
u
latio
n
r
esu
lts
,
a
p
u
ll
-
u
p
lo
ad
test
as
illu
s
tr
ated
in
Fig
u
r
e
1
3
is
co
n
d
u
c
ted
u
s
in
g
an
N3
5
r
in
g
m
ag
n
et
(
OD
5
0
m
m
,
I
D
1
0
m
m
,
th
ick
n
ess
1
2
.
5
m
m
)
.
T
h
e
s
etu
p
in
cl
u
d
e
s
a
lo
ad
in
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cr
ew
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n
n
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ted
to
a
weig
h
in
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Evaluation Warning : The document was created with Spire.PDF for Python.