Abstract
Robots are utilized to automate works on a vertical plane of a large structure such as a ship and permanent magnet wheels have been utilized to make possible the robots to be attached to vertical plane and be in motion. In this paper, we propose a new design of the permanent magnet wheel for mobile robots to improve the adhesive force and facilitate the detachment of the wheel. In newly suggested design, the magnetic flux enhances the adhesive force during the attachment while induction pins redirect magnetic flux in order to achieve an easier detachment. To characterize the performance, finite element analysis is executed and experiment apparatus is constructed. The results show that the adhesive force is reduced effectively by using induction pins.
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