Optimized design of permanent magnetic wheel for wall-climbing robot
YAN Haitao
XU Fenghui
ZHANG Yun
Abstract：To address issues such as large volume,heavy weight,and low adsorption force of permanent magnetic wheel in wall-climbing robot,the design aims to reduce the wheel mass and increase adsorption force.Combining lightweight design methods,the magnetic disks on both sides of the permanent magnetic wheel are designed by structural optimization.Electromagnetic field simulation software ANSYS Maxwell is used to model and simulate the permanent magnetic wheel,obtaining the magnetic field line distribution.By reducing the magnetic material in areas with sparse field lines and increasing it in dense areas,the wheel's adsorption force is enhanced.Through adjusting the main structural parameters of the magnetic disk and simulating the adsorption force changes between the permanent magnetic wheel and ferromagnetic wall surface,the optimal structural parameters for maximum adsorption force are determined.Simulation and physical tests verify the adsorption force of the optimized magnetic disk.Results show that the magnetic disk mass is 232.53 g,reduced by 16.24%;the simulated adsorption force between the permanent magnetic wheel and ferromagnetic wall is 487.65 N,increased by 20.74%;50 pull tests of the permanent magnetic wheel all exceed the simulated adsorption force,with an average of 493.83 N.The results show that after structural optimization,the mass and adsorption force indicators of the permanent magnet rotor meet the design objectives.
Keywords：wall-climbing robotpermanent magnetic wheelmagnetic diskstructural optimizationelectromagnetic field simulation
Publication Date：2025-05-30
Online Publishing Date：2026-05-22(First online date of this platform, not the publication date of the document)
Pages：7( 79-85 )