Features of clamping electromagnets using in wheel mobile robots and modeling of their interaction with ferromagnetic plate

The mathematical model of clamping electromagnets for clamping force determination on the basis of field theory means is offered for magnetically operated movers of mobile robots (MR) for moving on inclined or vertical ferromagnetic surfaces. The results of experimental investigations of magnetic induction and clamping force measurements in different spatial positions of clamping magnet relative to the ferromagnetic surface are given. The developed simulation model in Maxwell software based on finite element method allows to validate the obtained functional dependences considering the gap changes between magnet and working surface caused by excrescences of shells and ferromagnetic surface thickness changes caused by its technological features, as well as helps at the stage of MR's design.