Design and Experimental Verification of Small-Scale Magnetic Adsorption Wall-Climbing Robots

doi:10.12068/j.issn.1005-3026.2025.20230221

Abstract

Abstract:

To address the challenges of complex structures and large sizes in traditional wall‑climbing robots， a novel small‑scale magnetic adsoprtion wall‑climbing robot was designed， capable of maneuvering on vertical surfaces and meeting the operational requirements in confined spaces. Based on the vibration‑driven theory， a foot structure with torsional characteristics was designed， incorporating a magnetic adsorption mechanism. A dynamic model of the wall‑climbing robot was established， and numerical simulations were performed to analyze the effect of excitation frequency and external load on the robot’s motion speed. The results indicated that the robot achieves the maximum climbing speed of 58.7 mm/s under no‑load conditions and 44.9 mm/s when carrying a load equivalent to 0.7 times its own mass. Experimental validation further demonstrated the maximum climbing speeds of 56.5 and 30.2 mm/s under no‑load and loaded conditions， respectively. Additionally， by adjusting the excitation frequency， the robot’s motion speed and direction can be effectively controlled.

Key words: wall?climbing robot, small?scale robot, vibration?driven, magnetic adsorption, torsional characteristics

CLC Number:

TD 451

Chen-wei TANG, Jian-lei LI, Hong-liang YAO, Ru-yu JIA. Design and Experimental Verification of Small-Scale Magnetic Adsorption Wall-Climbing Robots[J]. Journal of Northeastern University(Natural Science), 2025, 46(1): 68-75.

Figures/Tables 11

Fig.1 Structural model of the robot

Fig.2 Exciting force and components

Fig.3 Two dimensional rigid body dynamics model of the robot system

Table 1 Simulation parameters

参数	值	参数	值
$m$ /g	$15$	$θ 0$ /（°）	$43$
$m 0$ /g	$100$	$e$ /mm	$4.6$
$N C$ /N	$4$	$μ$	$0.6$
$l$ /mm	$20$	$k$ /(N·m·rad^-1)	$1.8$

Table 1 Simulation parameters

参数	值	参数	值
$m$ /g	$15$	$θ 0$ /（°）	$43$
$m 0$ /g	$100$	$e$ /mm	$4.6$
$N C$ /N	$4$	$μ$	$0.6$
$l$ /mm	$20$	$k$ /(N·m·rad^-1)	$1.8$

Fig.4 Analysis of robot motion under different excitation frequencies

Fig.5 Excitation frequency-average speed response curve of the robot system

Fig.6 Analysis of the effect of external load on robot motion

Fig.7 Experimental device

Fig.8 Simulation and experimental comparison results of robot system motion

Fig.9 Experimental results of the effect of external load on robot motion

Fig.10 Effect of different loads on the extreme speed of the robot

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