Modeling of attractive force of magnetic wheel under different wall structure and attitude used for climbing robot

Accurate dynamic modeling is the basis for achieving high-precision motion control of a wheeled wall-climbing robot. In a dynamic model, the magnetic attractive force is one of the important influencing forces. In this study, to quickly obtain the attractive force of the magnetic wheel under different wall structure and attitude, the equivalent magnetic circuit method is combined with an analytical approach to construct attractive force models on the flat wall, the 90° concave corner, and the 90° convex corner, respectively. By establishing the geometric relations of the air gap, the reluctance is calculated to analyze the effects of changes in wall structure and relative attitude. The formula for calculating the attractive force is obtained based on this analysis. The proposed model’s accuracy was confirmed by comparing it to finite element analysis (FEA) results. These models enable rapid calculation of the dynamic attractive force, providing a foundation for establishing a high-precision dynamic model for a wheeled wall-climbing robot.