Static Stability Analysis of a Four-Wheel Permanent Magnet Wall-Climbing Robot

To address the limitations of traditional wall-climbing robots in ferromagnetic wall operation scenarios, such as poor surface adaptability, insufficient motion stability, and difficulties in negotiating complex surface transitions, this paper proposes a four-wheel permanent magnet wall-climbing robot and systematically investigates its stability. First, the center of gravity (CoG) of the robot was determined based on a 3D prototype model developed in SolidWorks2020. To ensure reliable adhesion, the anti-slip and anti-overturning stability criteria under various operating conditions were derived. Furthermore, combining the mechanical characteristics, a magnetic field simulation model for the magnetically adsorbed wheels was established. Electromagnetic simulations of the permanent magnets were conducted using Ansoft Maxwell, followed by adhesion force experiments. Finally, the robot prototype was assembled, and a test system was constructed to evaluate its overall performance. The experimental results demonstrate that the designed robot can smoothly negotiate inner right-angle corners. This validates the effectiveness of the proposed structural design and stability analysis, providing a feasible technical solution for wall-climbing robots in complex scenarios and exhibiting significant potential for engineering applications.