Design of the Wall-Climbing Robot's Tracked Sucker Based on Multi-Body Magnetic Gradual Alternate System

A new structure of the wall climbing robot's tracked sucker was designed based on multi body magnetic gradual alternate system. Based on the characters of the sucker's structure and the capability of the rare earth magnetic material, a mirror model was obtained about the working air gap between the tracked sucker and the wall surface. Based on the even distribution of the inner magnetization of the rare earth magnetic material, the multi harmonic formula of the gap in y direction was also established, which indicates that the new structure sucker has a better capability than the normal one. It is proved that the magnetic force of the tracked sucker is much larger than that of the normal one, it fulfils the requirement of the wall climbing robot moving safely on the wall surface.