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MAGNETIC FIELD ANALYSIS AND OPTIMIZATIONOF PERMANENT-MAGNETIC ADHESION DEVICE FOR WALLCLIMBING ROBOT.pdf

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MAGNETIC FIELD ANALYSIS AND OPTIMIZATIONOF PERMANENT-MAGNETIC ADHESION DEVICE FOR WALLCLIMBING ROBOT

THE MAGNETIC FIELD ANALYSIS AND OPTIMIZATION OF PERMANENT-MAGNETIC ADHESION DEVICE FOR A NOVEL WALL-CLIMBING ROBOT YAO Pingxi*, LI Deweit College of Mechanical Engineering,TaiYuan University of Technology,TaiYuan,030024,China yaopx0782@ txuefengOOll42@ Keywords: Wall-climbing robot, Adjustable pole, Permanent-Magnetic Adhesion Device, Finite element optimization design. Abstract The climbing-wall robot based on permanent-magnet adsorption is always concentrated on tracked-type, but robot with this type is deficient flexibility when it moves. In this paper, a new permanent-magnet adhesion device of an adjustable pole is introduced in the wheel-type robot, the device can provide l500N force when the air gap between the device and wall is 4mm to meet load requirement in working state, and at this time the magnetic flux leakage is very small. While permanent magnetic force is almost approach zero when device in non-operating state, so the robot can up and down the wall conveniently. The mathematic model is established by Finite Element Method to calculate and design magnetic field. The finite element software is used to analyze and optimize the magnetic field distribution, magnetic field intensity as well as the structure size which will affect magnetic field intensity to the device. Optimization results show that every parameter has a different influence on adsorb ability of the device when it changes. Ratio between the maximum and minimum of adsorbability in two states is more than 5666 times when structure is designed reasonably. 1 Introduction In recent years, research on wall-climbing robot has become very meaningful in robot development[I ][2]. Wall-climbing robot can be used for clean the glass and the outer surface of the construction[3], Wall-climbing robot can also complete the cleaning and testing working in the poor working condition of petrochemical industry, power plants and nuclear industry[4], so workers are relieved