Analysis on Mechanics and Magnetic Adsorption of Wheeled Wall-Climbing and Obstacle-Jumping Robot

Abstract

In order to meet the needs of working on the inner wall of oil tank, a new wheeled climbing robot with magnetic adsorption ability and obstacle crossing ability was designed. Meanwhile, for meeting the requirements of stable adsorption and safe ability of obstacle crossing, the statics analysis of the wall-climbing robot were carried out, and the safe adsorption force of the wall-climbing robot operating on the wall under different conditions was obtained to avoid slipping and capsizing. The effects of the distance between the magnet and the wall on the adsorption force were analyzed by experiments, and the optimal structure size was obtained to ensure that the robot could be safely adsorbed on the wall during the process of obstacle crossing. The experimental results show that the overall trend of the experimental results is basically consistent with the calculated results. The research results can provide theoretical reference for the mechanical analysis and obstacle-climbing stability of the wheeled wall-climbing robot.