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Volume 9
Issue 3
10.3390/act9030067
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Article

Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot

by
Myounggyu Noh
*,
Eunsang Kwon
,
So Hee Park
and
Young-Woo Park
Department of Mechatronics, Chungnam National University, Daejeon 34134, Korea
*
Author to whom correspondence should be addressed.
Actuators 2020, 9(3), 67; https://doi.org/10.3390/act9030067
Submission received: 20 July 2020 / Revised: 5 August 2020 / Accepted: 7 August 2020 / Published: 9 August 2020
(This article belongs to the Special Issue Actuators for System Identification, Vibration Analysis, and Control)
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Abstract

Mobile robots that are required to climb inclined ferromagnetic surfaces typically employ magnetic wheels. In order to design magnetic wheels and to properly size the permanent magnet as magnetizing source without the need for finite element analyses, a model that predicts the attractive magnetic force is necessary. In this paper, an analytical force model is derived by estimating the reluctance between the wheel and the surface. A magnetic circuit is constructed, incorporating the leakage flux from the side of the wheel. The model is validated against the results from finite element analyses and measurements from a test rig and a wheel prototype. Within the limitations of the model, it can adequately predict the force and can be used for initial design of magnetic wheels.
Keywords: magnetic wheel; force model; magnetic circuit; reluctance model; mobile robots magnetic wheel; force model; magnetic circuit; reluctance model; mobile robots

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MDPI and ACS Style

Noh, M.; Kwon, E.; Park, S.H.; Park, Y.-W. Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot. Actuators 2020, 9, 67. https://doi.org/10.3390/act9030067

AMA Style

Noh M, Kwon E, Park SH, Park Y-W. Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot. Actuators. 2020; 9(3):67. https://doi.org/10.3390/act9030067

Chicago/Turabian Style

Noh, Myounggyu, Eunsang Kwon, So Hee Park, and Young-Woo Park. 2020. "Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot" Actuators 9, no. 3: 67. https://doi.org/10.3390/act9030067

APA Style

Noh, M., Kwon, E., Park, S. H., & Park, Y.-W. (2020). Modeling of Attractive Force by Magnetic Wheel Used for Mobile Robot. Actuators, 9(3), 67. https://doi.org/10.3390/act9030067

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