Design and Optimization of Mechanical Structures for Wall-Climbing Robots

Abstract

There is a problem of insufficient adsorption capacity of the wall-climbing robot on the steel wall during its movement. The paper designs a magnetically adsorbed wall-climbing robot with triangular track wheels, which includes a walking structure, a drive structure, and a magnetically adsorbed structure. Firstly, the robot was designed using 3D mapping software to determine a triangular crawler wheel travel and permanent magnet adsorption solution. The mechanical model of the wall climbing robot on a steel wall is then analyzed statically to obtain the minimum adsorption force to be adsorbed on the steel wall. Finally, the magnet structure is analyzed by ANSYS magnetic simulation software to optimize the structure of the permanent magnet and design the most suitable height of the magnetic track wheel, providing a reference for the design and optimization of the permanent magnet adsorption structure of the wall climbing robot.