수직 모바일 로봇을 위한 자석바퀴

Abstract In this paper, we propose a new design of the hybrid-magnet wheel to make possible the robot to be attached to vertical plane and be in motion. In newly suggested design, permanent magnet is utilized to enhance the adhesive force during attachment while electromagnet is introduced to reduce magnetic field and weaken the adhesive force for easier detachment. To characterize the performance, 3-D finite element analysis is executed using commercial FE program. The results show that the adhesive force is reduced effectively by electromagnet.