Redesign of an Undercarriage Wheel for a Self-Acting Robot

This paper deals with a redesign of a magnetic wheel for a self-acting robot. The target of the redesign is both increase of the attracting force necessary for carrying of the robot and lowering of the mass of the wheel. For obtaining the most accurate results, three calculation techniques were used. The analytical solution shows conversion of the real geometry between the wheels on the surface to a fictional constant gap and allows getting the total attracting force under some simplification. The numerical linear model respects the dimensions of the wheel exactly, and both linear and non-linear solutions of the situation are compared.