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Magnetic Field Analysis and Structure Design of a New Magnetic Wheel for Wall-Climbing Robot

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Abstract

According to the working requirements of the wall-climbing robot, a wall-climbing method using a permanent magnet wheel to realize wall surface attraction is proposed. Three-dimensional modeling software was used to design permanent magnet wheels with different arrangements, and the effects of different combinations, yoke thickness, and magnetic block wall clearance distance on the wheel magnetic block wall clearance distance were studied. A variety of magnetic wheel structures were proposed, and the magnetic field between the bottom of the magnetic wheel and the metal plate was analyzed. Under the condition of the given overall load, the magnetic wheel structure was optimized based on the Halbach array, and, finally, a magnetic wheel structure was obtained to minimize the wheel weight. It provides a theoretical basis for the stable climbing of permanent magnet wheel wall-climbing robot.

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Funding

The funding of this project was received from the Key Generic Process Research of Ship Intelligent Manufacturing (MC-201704-Z02).

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Authors and Affiliations

  1. Mechanical Science and Engineering College of Northeast Petroleum Institute, Daqing, 163318, China

    Sheng Gao, Ruilin Hou, Jun Li, Yunlon Pan & Shuwei He

  2. School of Mechanical Engineering, The University of Harbin Institute of Petroleum, Harbin, 150028, China

    Jun Li

  3. State Key Laboratory of Advanced Welding and Joining, Harbin Institute of Technology, Harbin, 150001, China

    Haichao Li

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  1. Sheng Gao
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  2. Ruilin Hou
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  3. Jun Li
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  4. Yunlon Pan
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  5. Shuwei He
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  6. Haichao Li
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Correspondence to Sheng Gao.

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Gao, S., Hou, R., Li, J. et al. Magnetic Field Analysis and Structure Design of a New Magnetic Wheel for Wall-Climbing Robot. J Supercond Nov Magn 35, 529–537 (2022). https://doi.org/10.1007/s10948-021-06094-4

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  • DOI: https://doi.org/10.1007/s10948-021-06094-4

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