Magneto static analysis of adhesion force for the wall climbing robot

This project was undertaken with the aim of designing, building and testing magnetic wheel based an autonomous climbing robot, for use in conjunction with non-destructive testing (NDT) inspection on vertical towers. Through extensive review of previous generations of climbing robot, a hybrid wheel and permanent magnetic adhesion system was designed for use in this project. Using mathematical modelling and finite element analysis (FEA) of differing magnet geometries, an adhesion system was developed to produce the required amount of adhesion force and was empirically tested at several intervals throughout the project. To complement this adhesion system, a lightweight, cost effective body was designed using 3D CAD software and manufactured using rapid prototyping methods. This was done to incorporate the electronic equipment used to sense the working environment, drive the robot and carry equipment capable of performing defect detection tasks. To do this, a range of sensors, motors and auxiliary equipment was used and controlled by a microcontroller. Finally, a functional scale prototype was manufactured, assembled and tested on a cylindrical test rig that closely imitated its intended work environment.