Analytical Optimization of a New Adjustable Magnetic Field Adhesion Mechanism

A novel adjustable magnetic field adhesion mechanism for use in wall-climbing robot is designed. The magnetic field in air gap can be switchable by rotating the center axis of adhesion mechanism so that the magnetic adhesion force is variable and it is conveniently for robot adhesion and detachment from the wall. The influence of structure parameters on adhesion performance and the optimal dimensions of mechanism are obtained by parameter variation method for best performing design. The novel optimal mechanism has been dimensioned and its magnetic force is measured. The results are compared to the simulation and it is shown that it is one of the best performing of magnet designs published for wall climbing robot adhesion mechanism.