Magneto static analysis of adhesion force for the wall climbing robot

This paper describes the analysis and results of the magneto static adhesion force which required for the climbing robot to climb the high walls when additional loads are need to be carried such as scanning devices for the non-destructive testing inspection of nuclear plants or high rise wind towers. Magneto-static simulations and experiments have been carried out for the investigation of the parameters of magnetic adhesion system and the static analysis of a climbing robot is performed with regard to anti-slipping forces and anti-overturning moments. The results from both simulations and experiments show that the adhesion mechanism with just two N52 magnets has enough adhesion capacity to carry a payload exceeding 300N. The prototype wheeled locomotion robot is built and magnetic adhesion mechanism has been mounted on the belly of a robot. The simulation and experimental results are compared. The experiment has been carried out in the robotic laboratory on the vertical surface and the result from the prototype show that the adhesion mechanism provides enough adhesion force for the prototype designed robot.