English

Abstract

Many innovative approaches have been proposed in modelling and designing the wall climbing robot. Among all these approaches, the main focus is the adhesive mechanism of a wall climbing robot (WCR). This adhesive mechanism is a critical design consideration feature when discussing system reliability. There are various types of adhesive mechanisms like magnetic, suction cup, vacuum, rope and rail, electrostatic, fusion or hybrid type etc., of which the fusion or hybrid mechanism is found to have more payload to weight ratio (P/W value). This paper proposes a hybrid method using both permanent magnet (Nd FeB magnetic wheel) and solenoid electromagnet suction at the central disc. The design is validated using a free-body diagram, and its magnetic adhesion is analyzed by visualizing the magnetic flux density lines through Finite Element Method Magnetics (FEMM) analysis software. Three different analyses in FEMM are made, and their corresponding outcome is discussed concerning its graph.