Title: Parameter analysis and design framework for magnetic adhesion wall climbing wheeled robot
Authors: Salman Hussain; Tariq Sattar; Ener Salinas
Addresses: Faculty of Engineering, Science and the Built Environment, London South Bank University, London, UK. ' Faculty of Engineering, Science and the Built Environment, London South Bank University, London, UK. ' Faculty of Engineering, Science and the Built Environment, London South Bank University, London, UK
Abstract: Some robots need to climb ferromagnetic walls for performing important inspections and evaluations of the material properties of these walls. This paper aims to establish a design framework for magnetically adhering wheeled robots having magnets attached to the base of the robot. The different design parameters influencing the magnetic adhesion include the geometry of the flux concentrator, the variation of the air gap on adhesion and climbing performance in addition to various types of materials for magnetic flux concentration. These parameters shaping adhesion behaviour are simulated numerically using magnetostatic analysis in ANSYS Finite Elements Method (FEM) software. The results are evaluated and a set of rules and procedures are created as a framework that will enable a more efficient design and construction of this type of robots.
Keywords: wall climbing robots; magnetic flux density; ferromagnetic materials; magnetic concentrators; permanent magnets; neodymium; magnetic adhesion; robot design; NDT; nondestructive testing; static mechanical analysis; dynamic mechanical analysis; FEM; finite element method; ANSYS software; wheeled robots.
International Journal of Intelligent Systems Technologies and Applications, 2012 Vol.11 No.1/2, pp.102 - 116
Received: 01 Sep 2011
Accepted: 30 Nov 2011
Published online: 23 Apr 2012 *