Regular surface-maintenances are necessary for high structures to increase service life. The traditional manual operationhas shortcomings like limited maneuverability, poor operating quality, low operating efficiency, and high risk of physicalharm, which makes it urgent to develop wall-climbing robot for carrying out surface-maintenances of high structureswith high efficiency, low cost, and good protection of operators. In this article, we have developed a wheeled wallclimbing robot that uses a permanent magnet adhesion system to climb on large steel surfaces. Wheel traction to avoidslippage is increased by using inflated rubber tire while maintaining a desired air gap for the magnet system. Research isdirected at designing a lightweight magnet system to provide an optimum adhesion force and at determining requiredtire pressures to maintain a specified air gap between the magnets and the surface.
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