Research on Wheel-wall Gap Calculation Method for Four-Magnetic Wheel Wall-Climbing Robot Walking on Cylindrical Tank

摘要

In order to better study the adsorption property of the magnetic wheeled wall-climbing robot for its stably walking on the wall of the cylindrical tank, the calculation method of the gap from the magnetic wheel to tank wall is proposed. The three-wheel or four-wheel contact mode of the robot on the cylindrical tank wall is analyzed, and the contact points between magnetic wheels and the tank wall is determined. The position and orientation of the robot on the tank wall are described by coordinate transformation, and the change law of wheel-wall gap along the wheel axis is established by geometric method. The whole solution process is numerically calculated by MATLAB finally. The results can be used in the design of magnetic wheel structure and magnetic force.