Towards Optimum Design Of Magnetic Adhesion Wall Climbing Wheeled Robots

摘要

Climbing and walking robots perform tasks that are too difficult, dangerous or time consuming for the human worker. The main design consideration in the climbing robot is its method of adhesion. The aim of this paper is to lay down the foundation for developing a design framework for magnetically adhering wheeled robots having magnets attached to the base of the robot. The different design parameters affecting the magnetic adhesion include the geometry of the flux concentration plate, effect of the variation of the air gap on adhesion and climbing performance, different materials for magnetic flux concentration and different magnetic arrangements. These different parameters affecting adhesion are simulated and optimized using Magnetostatic analysis in ANSYS simulation software.