Abstract
Magnetic wheel climbing robots have been widely used in the ferro-magnetic structures inspection. Most research studies have investigated the effects of different parameters on the adhesive force of a single magnetic wheel. These investigations, however, are yet to examine multiple magnetic wheels assembled on the same shaft. Therefore, this study aimed to clarify the effects of the axial distance and the direction of the magnetization of each magnetic wheel on the total adhesive force. Finding suggested that for a certain range of the axial distance, the total adhesive force of double magnetic wheels was close to twice of the adhesive force of a single magnetic wheel when the direction of magnetization of double wheels are identical. Over the same range of the axial distance, the total adhesive force of double wheels approached twice the adhesive force of a single magnetic wheel as the axial distance increased. The interesting situation was when two magnetic wheels were in contact, the adhesive force of the same magnetization case was significantly higher than that of the opposite magnetization. The results of this study can be used for designing and controlling multiple magnetic wheels to achieve the desired adhesive force during the operation.
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