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

International Journal of Electrical and Electronics Engineering

© 2023 by SSRG - IJEEE Journal

Volume 10 Issue 5

Year of Publication : 2023

Authors : Rakesh Rajendran, Joshuva Arockia Dhanraj

10.14445/23488379/IJEEE-V10I5P120

How to Cite?

Rakesh Rajendran, Joshuva Arockia Dhanraj, "Free Body Diagram Analysis and Finite Element Method Analysis of Wall Climbing Robot using the Hybrid Adhesive Mechanism," SSRG International Journal of Electrical and Electronics Engineering, vol. 10,  no. 5, pp. 213-226, 2023. Crossref, https://doi.org/10.14445/23488379/IJEEE-V10I5P120

Abstract:

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

Keywords:

Finite Element Method Magnetics (FEMM), Nd Fe B magnetic wheel, Payload to weight ratio.

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