Analysis on Turning Stress States of Magnetic Sucking Mechanism Unit of a Large Load Wall Climbing Robot

A rust removal cleanout auto-wall climbing robot has been developed, which works with heavy weight of robot body and load. The robot marching and turning experiments about the magnetic sucking mechanism unit are mentioned, and the destruction test of magnetic sucking mechanism unit is described. According to sliding friction properties and the phenomenon of test, the marching model and turning model are established, and the destruction characteristics are analyzed. Combining the analysis of turning model and the stress analysis, the bracket structure is optimized. The results of turning stress analysis and experiments show that the optimized structure of magnetic sucking mechanism unit is reasonable, and the robot marches and turns well.