Magnetic Adsorption Capability And Adsorptive Force Research Of Wheeled Wall Climbing Robot

Wheeled wall-climbing robot is one of the branches of crawling robot.It is usually usedfor extreme operating conditions, such as cleaning rust and other works in oil industry. Itsmain advantages are moving fast and flexible steering, but there are also many problems,suchas the adsorption force is not easy to control, the stability of obstacle crossing is low.Reasonable adsorption source may ensure the robot effective adsorbtion on the surface of thewall, The robot usually crosses disorders or transforms operation surface, therefore solvingthe problem that adsorption force control has become a sticking point that ensure crawlingstability of robot. So choosing reasonable adsorption source arrangement and effectivecontrol of adsorption force is the most important design reference factor of the robot.This paper contrasts the method that enhance magnetic adsorption force and controlforce magnetic adsorption of wall-climbing robot home and abroad. Through comparing theadvantages and disadvantages of various methods, it determines the way that enhances andcontrols magnetic adsorption force of robot which designed in this paper. It introduces therelated knowledge of magnetism，and determines the neodymium iron boron as the bestpermanent magnetic material of robot design by comparing the performance of magneticmaterial. It puts forward the idea that magnetic wheel adsorption and magnetic suckingcombined manner adsorption control, builds robot mechanical model. Through calculation,reasonable distribution of magnetic wheel and the magnetic chuck on the adsorption force isdone. Halbach cylindrical structure is introduced, which is applied to the magnetic wheel, andthe optimum structure form is determined. The working principle of magnetic coupling isintroduced to the magnetic chuck, and it is improved,the magnetic chuck structure form andmotion form are determined.The magnetic wheel and the magnetic suction disc modelsimulation and analysis are done by using electromagnetic analysis software flux, and gainthe adsorption force curves of the magnetic wheel that effect by the magnetic wheel width,round thick, width-to-thickness ratio, air gap and etc. The magnetic chuck model analysiscarried on by using flux, it obtained the magnetic sucker suction force curve that effected bythe active wheel angle.The magnetic wheel and the magnetic chuck size and structure aredetermined ultimately after analysis.This paper does research on the magnetic wheel and the magnetic sucker adsorptionproperties and force control,it obtains the method of controlling magnetic adsorption andenhancing magnetic adsorption force.It provides a theoretical basis for further study of thewall climbing robot and riches theory research method of wall-climbing robot with magnetic.