Abstract
To solve the problems that the theoretical analysis of Halbach array magnetic circuit is insufficient and that calculating the magnetic adsorption force of a permanent magnet by using the magnetic node method is complex, the magnetic flux density of a Halbach array magnetic circuit composed of multiple permanent magnets with perpendicular magnetization directions is calculated. On the basis of the concentrated magnetic phenomenon of the ferromagnetic material and the end effect of the permanent magnet, a method for calculating the magnetic adsorption force of the Halbach array magnetic circuit by using the equivalent magnetic flux density is proposed, and the variation trend of magnetic adsorption force after changing the parameters of the magnetic circuit is obtained. ANSYS software is used to analyze several magnetic circuits that produce large magnetic adsorption force, a magnetic circuit structure that produces the largest magnetic adsorption force is determined, and the permanent magnetic adsorption device of the wall-climbing robot is improved. The magnetic adsorption force of the wall-climbing robot before and after the improvement of the permanent magnetic adsorption device is measured through experiments. The experimental results show that the magnetic adsorption force after the improvement is increased by 24.63% compared to before the improvement.
Highlights
Compared to other adsorption wall-climbing robots, permanent magnetic adsorption wall-climbing robots have the advantages of being safer and more reliable and having a high load–weight ratio [1,2,3,4]
The experimental results show that when the same volume of a permanent magnet is used in the Halbach array permanent magnetic adsorption device of the wall-climbing robot, the magnetic adsorption force generated by the improved permanent magnetic adsorption device is increased by 24.63% compared to before the improvement
Based on the Halbach array magnetic circuit analysis of ideal magnetization direction by Professor Mallinson [12], we analyze the Halbach array magnetic circuit with multiple perpendicular magnetization directions, which improves the relevant theory of the Halbach array magnetic circuit analysis
Summary
Compared to other adsorption wall-climbing robots (such as negative pressure, thrust, bionic, and electromagnetic adsorption wall-climbing robots), permanent magnetic adsorption wall-climbing robots have the advantages of being safer and more reliable and having a high load–weight ratio [1,2,3,4]. To solve the above problems in the calculation of Halbach array magnetic circuits, the main contents of this paper are as follows: (1) The magnetic scalar potential method combined with Fourier transform is used to study the Halbach array permanent magnet adsorption device of the wall-climbing robot as shown, and the expression of magnetic flux density is obtained. On this basis, the equivalent magnetic flux density is proposed, the end effect of the magnet is considered, and the variation trend of magnetic adsorption force and magnetic circuit parameters is obtained. A(n)−B(n))(1−ek(n)h 2k(n)ek(n)h e−k(n)y cos ( A(n)−B(n))(1−ek(n)h ) 2k(n)ek(n)h (A(n)+B(n))ek(n)y 2k(n)
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