Abstract: Aiming at the problem of structure parameters design of Halbach permanent magnetic array working on wallclimbing robots, an experimental study on adsorption force calculation was carried out. Adsorption force of ideal array was calculated firstly as a basis for followup correction methods. Then the optimal magnetization direction of each module in a fullsymmetric discrete array was analyzed and the loss of adsorption force caused by discretization was calculated with Fourier analysis method. A simplified correction model of the endeffect was proposed for rapid calculation, by studying a method on distribution of magnetic induction on the reference line instead of global integration, and the calculation formula of adsorption force was modified considering the endeffect caused by the change of structure parameters. The test results indicate that the computed adsorption force basically tallies with measured force, with the average relative error less than 3.3%.
Key words: wallclimbing robot; permanent magnetic adsorption device; Halbach array; endeffect