Free Body Diagram Analysis and Finite Element Method Analysis of Wall Climbing Robot using the Hybrid Adhesive Mechanism

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