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Applied Bionics and Biomechanics
Volume 3 (2006), Issue 3, Pages 151-159

Permanent Magnetic System Design for the Wall-Climbing Robot

W. Shen,1 J. Gu,1,2 and Y. Shen3

1Electrical and Computer Engineering, Dalhousie University, Halifax, NS, Canada B3J 2X4
2School of Control Science and Engineering, Shandong University, 250100, China
3College of Science, Three Gorges University, Yichang, Hubei, 443002, China

Copyright © 2006 Hindawi Publishing Corporation. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


This paper presents the design and analysis of the permanent magnetic system for a wall-climbing robot with permanent magnetic tracks. Based on the behaviour of gecko lizards, the architecture of the robot was designed and built, including the structure of the adhesion mechanism, the mechanical architecture and the anti-toppling mechanism. The permanent magnetic adhesion mechanism and the tracked locomotion mechanism were employed in this kind of wall-climbing robot. Through static and dynamic force analysis of the robot under different situations, design requirements for the adhesion mechanism were derived. Two different types of structures were put forward for the permanent magnetic units and are further discussed in this paper. These two types of structures are also analysed in detail. In addition, a finite-element method was used to verify the results of magnetic units. Finally, two wall-climbing robots, equipped with different magnetic systems described previously, are explained and their applications are discussed in this paper.