Optimization of a Novel Magnetic Adsorption Unit for Wallclimbing Robot

doi:10.3969/j.issn.1000-1093.2012.12.022

Abstract

Abstract: To satisfy the requirements on loading ability and manoeuvrability of the wallclimbing robot, a novel magnetic adsorption device with variable magnetic force was proposed. First, its configuration was introduced and threedimensional magnetic field models were established, then the magnetic field of novel magnetic adsorption unit based on finite element method was analyzed, and its magnetic flux density distribution and magnetic adsorption force were obtained. The APDL parametric technology of ANSYS was used to optimize the dimensions of magnetic unit, and optimization principle was obtained by analysis. By simulation and comparison of performance parameters of traditional Hshaped magnetic adsorption device, it is shown that the novel one has the characteristics of high utilization of permanent magnet, large ratio of the maximum and minimum adsorption force, light weight and strong loading ability. The result is proved by experiment and provides the basis for the design of wallclimbing robot magnetic adsorption device.

Key words: electromagnetics, wallclimbing robot, magnetic adsorption unit, variable magnetic force, Halbach array

CLC Number:

TP24

CHEN Yong， WANG Chang-ming， BAO Jian-dong. Optimization of a Novel Magnetic Adsorption Unit for Wallclimbing Robot[J]. Acta Armamentarii, 2012, 33(12): 1539-1544.

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