Simulation of Robot’s Wheel-Mover on Ferromagnetic Surfaces

Abstract

This work presents a mathematical model of a mobile robot based on a wheel-mover for the movement on nonlinear ferromagnetic surfaces. The paper consists of the original geometrical relationships between the magneticallyoperated wheel-mover’s components and an analysis of their properties. The authors created a simulation of a wheel moving on an arbitrary ferromagnetic surface (inclined and vertical) and propose to use it for creating a real automatic control system for such a wheel-mover. Future directions of the research are discussed.