Abstract:

This paper presents a comprehensive step-by-step development process of magnetic adhesion modules intended for mobile robots deployed in shipyards for hull cleaning applications. The proposed module uses the Halbach array, where magnets encased within a specially designed casing create a high-density and low-range magnetic field, ensuring effective adhesion during cleaning operations. Utilizing the Finite Element Method Magnetics (FEMM) software, diverse sets of magnets with varying sizes are simulated to identify the best configuration that yields the highest adhesive force and adhere to geometric boundaries. Detailed descriptions of the casing characteristics and solutions applied during the module’s development are provided. Furthermore, the paper includes the presentation of experimental data, accompanied by an analysis of the results, showcasing the efficacy and performance of the magnetic adhesion module. A comparative evaluation between simulated and real-life data is also conducted, providing insights into the module’s practical applicability and performance. The outcome of this study provides field-tested guideline for developing magnetic modules for robots.