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Abstract: A new structure of the wall-climbing robot’s tracked
sucker, which is different from the normal, is designed based on
multi-body magnetic structure. According to the tracked sucker’s working
condition and the magnetization character of the rare earth magnet， a
mirror model is obtained about the working air gap between the tracked
sucker and the wall surface, a formula for calculating the magnetization
in the y direction is established, it is proved that the magnetic force
and the magnetization of the new tracked sucker is much larger than that
of the normal. In order to reveal the distribution rule of the
magnetization in the air gap， the permanent magnet’s tip-effect is
neglected, and a multi-harmonic formula is established, upon which the
optimization principle of the design of the tracked sucker is presented.
It fulfils the requirement of the wall-climbing robot moving safely on
the wall surface.
Key words: Tracked sucker Multi-body magnetic structure
Magnetization Mirror model
CLC No: TM144
上海市科学发展基金资助项目(941111035). Received 20030115, received in revised form
20030607
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