Magnetic Circuit Analysis of Halbach Array and Improvement of Permanent Magnetic Adsorption Device for Wall-Climbing Robot

Abstract

To solve the problems that the theoretical analysis of Halbach array magnetic circuit is insufficient and that calculating the magnetic adsorption force of a permanent magnet by using the magnetic node method is complex, the magnetic flux density of a Halbach array magnetic circuit composed of multiple permanent magnets with perpendicular magnetization directions is calculated. On the basis of the concentrated magnetic phenomenon of the ferromagnetic material and the end effect of the permanent magnet, a method for calculating the magnetic adsorption force of the Halbach array magnetic circuit by using the equivalent magnetic flux density is proposed, and the variation trend of magnetic adsorption force after changing the parameters of the magnetic circuit is obtained. ANSYS software is used to analyze several magnetic circuits that produce large magnetic adsorption force, a magnetic circuit structure that produces the largest magnetic adsorption force is determined, and the permanent magnetic adsorption device of the wall-climbing robot is improved. The magnetic adsorption force of the wall-climbing robot before and after the improvement of the permanent magnetic adsorption device is measured through experiments. The experimental results show that the magnetic adsorption force after the improvement is increased by 24.63% compared to before the improvement.