Abstract
Asaspecialrobot,climbingrobothasimportantapplicationsinpainting,patroland
defectinspectionofships,irontowersandsteelbridges.Thispaperfocusesonthedesignand
developmentofawheellegcompositepermanentmagnetclimbingrobot.Therobotis
composedofbasemodule,legmoduleandmagneticwheelmodule.Inthispaper,the
kinematicsoftherobotisanalyzedindetail,andthevariablemagneticwheelissimulatedand
optimizedwithCOMSOLsimulationsoftware.Thestructureoftherobotisdesignedwith
Solidworkssoftware,andtherobotissimplyco
变吸附力磁轮爬行机器人开发-22147字.pdf