A magnetic wall climbing robot with non-contactable and adjustable adhesion mechanism

摘要

This paper presents a permanent magnetic climbing robotic platform with non-contactable and adjustable adhesion mechanism without complex control for inspection. An adjustable adhesion mechanism was designed by tuning the distance between permanent magnet and the steel board to enhance mobility. The four-wheel locomotion system is connected with force sensors to. The simulation shows the absorption force is larger under the condition that multiple magnets are N, S alternatively distributed and a ferromagnetic plate is installed on the bottom of magnets. Wall climbing experiments were carried out to evaluate adhesion force and load capacity.