Design and Fabrication of Omni Directional H-Bot and Determining Stability Using Edge Impulse Software

International Journal of Mechanical Engineering

© 2025 by SSRG - IJME Journal

Volume 12 Issue 12

Year of Publication : 2025

Authors : Rakesh Rajendran, Hamsadhwani Vivekanandhan, Shivakumar Natarajan, Karthick. M, Sharmila Begum. M, Sugavaneswaran. M

10.14445/23488360/IJME-V12I12P103

How to Cite?

Rakesh Rajendran, Hamsadhwani Vivekanandhan, Shivakumar Natarajan, Karthick. M, Sharmila Begum. M, Sugavaneswaran. M, "Design and Fabrication of Omni Directional H-Bot and Determining Stability Using Edge Impulse Software," SSRG International Journal of Mechanical Engineering, vol. 12,  no. 12, pp. 19-30, 2025. Crossref, https://doi.org/10.14445/23488360/IJME-V12I12P103

Abstract:

Wall Climbing Robots (WCR) are emerging with drastic development, and their role has become inevitable across many industrial applications. The performance of these WCRs is directly influenced by their adhesive mechanism and its capability to travel in multiple directions. Though there are many research papers that have worked on wall climbing robots, only a few papers have focused on this multi-directional or omni directional wall climbing robot. In this paper, an innovative model is proposed with two linear actuators coupled with each other and having solenoids at both ends as the adhesive medium. It is also enabled with a central disc having three solenoids that enhance the omni direction rotation of the H-bot. The mathematical model for the proposed H-bot is obtained through a free-body diagram. FEMM software is used to visualize the magnetic field strength of the proposed design. The design is modelled with simulation software named Coppelia Sim and then tested with actual fabrication in the lab test. The time taken to climb the particular height, both in simulation testing and actual experimental testing, is compared and analyzed. An IoT software named Edge Impulse is used to study the stability of the proposed H-bot. This stability analysis is performed for both climbing and descending of the H-bot on a vertical wall. This stability analysis is also performed during the omni direction rotation when the solenoids in the central disc are energized.

Keywords:

Edge impulse software, H-bot, Coppelia Sim, FEMM, Free body diagram.

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