Analysis and Design of Magnetic Adsorption Unit for Tracked Ship Derusting Robot

A key issue for ship derusting robots is how to generate sufficient adsorption force on the surface of the hull. In this paper, the force analysis is used to determine the required adsorption force of the robot. The tensor method is used to establish the finite element model. By comparing the simulation results, the adsorption force is determined to be the maximum and meet the needs of the work, when the four permanent magnets are placed vertically on the yoke and adjacent magnets have opposite polarities. The size of each component of the magnetic adsorption unit is analyzed and calculated when adsorption force is the maximum. It provides a basis for the adsorption structure design of the derusting robot.