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Design of novel multidirectional magnetized permanent magnetic adsorption device for wall-climbing robots

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Abstract

A multidirectional magnetized permanent magnetic adsorption device (PMAD) for wall-climbing robots is proposed. The novel PMAD can significantly increase the adsorption force under the same mass. Firstly, the magnetic circuit of the novel PMAD was optimized based on the design theory proposed in this paper. The novel PMAD contains multiple closely arranged permanent magnets with different magnetizing directions. The magnets can be divided into several component units by the arrangement regulation of the magnetizing directions. In every component unit, the magnetizing directions distribute along a semi-circle. Secondly, Finite element analysis software Ansys Workbench was used for parameterized modeling, structural characteristic analysis, magnetic circuit simulation, adsorption force calculation and parameter optimization of the novel PMAD. Then, The novel and the Halbach type of PMADs with the same material and volume were trial-produced. The adsorption force was measured under different air gap thicknesses. The experimental results proved that the adsorption force of the novel PMAD doubled averagely compared with the Halbach type of PMAD under the same mass, and the largest amplification was 2.3 times. Finally, the novel PMADs were applied in a wall-climbing robot for ultrasonic testing, and provide steady and reliable adsorption.

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Abbreviations

F m :

adsorption force, N

m :

PMAD mass, kg

m magnet :

magnet mass, kg

f m :

specific adsorption force of a PMAD, N/kg

L m :

axial length of the magnets, mm

R :

radius of a certain thin-layer, mm

dR :

thin-layer thickness, mm

R max :

radius of the semi-cylinder, mm

L g :

air gap thickness, mm

B m :

magnetic induction intensity in the magnet, mT

H m :

magnetic field intensity in the magnet, A/m

B g :

magnetic induction intensity in the air gap, mT

H g :

magnetic field intensity in the air gap, A/m

ρ :

magnet density, kg/m3

B r :

residual magnetic induction intensity of NdFeB, mT

H cb :

coercive force of NdFeB, A/m

μ rec :

relative recovery permeability of NdFeB

μ yoke :

relative permeability of the yoke

H yoke :

magnetic field intensity in the yoke, A/m

B yoke :

magnetic induction intensity in the yoke, mT

m yoke :

mass of the yoke, kg

f yoke :

specific adsorption force of a yoke type of PMAD, N/kg

n :

quantity of the magnets in a component unit

N :

quantity of the component units

W 1 ~ W 8 :

magnet widths, mm

θ 1 ~ θ 8 :

magnetization angles, °

H:

magnet height, mm

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Authors and Affiliations

  1. Key Laboratory for Advanced Materials Processing Technology of Ministry of Education, Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Chenfei Yan, Zhenguo Sun, Wenzeng Zhang & Qiang Chen

  2. Yangtze Delta Region Institute of Tsinghua University, Jiaxing, Zhejiang, 314000, China

    Zhenguo Sun & Qiang Chen

Authors
  1. Chenfei Yan
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  2. Zhenguo Sun
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  3. Wenzeng Zhang
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  4. Qiang Chen
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Correspondence to Zhenguo Sun.

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Yan, C., Sun, Z., Zhang, W. et al. Design of novel multidirectional magnetized permanent magnetic adsorption device for wall-climbing robots. Int. J. Precis. Eng. Manuf. 17, 871–878 (2016). https://doi.org/10.1007/s12541-016-0106-9

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