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This study aims to improve the stability and obstacle surmounting ability of the traditional wall-climbing robot on the surface of the ship, a wheel-track composite magnetic adsorption wall-climbing robot is proposed in this paper.

The robot adopts a front and rear obstacle-crossing mechanism to achieve a smooth crossover. The robot is composed of two passive obstacle-crossing mechanisms and a frame, which is composed of two obstacle-crossing magnetic wheels and a set of tracks. The obstacle-crossing is realized by the telescopic expansion of the obstacle-crossing mechanism. Three static failure models are established to determine the minimum adsorption force for the robot to achieve stable motion. The Halbach array is used to construct the track magnetic circuit, and the influence of gap, contact area and magnet thickness on the adsorption force is analyzed by parameter simulation.

The prototype was designed and manufactured by the authors for static failure and obstacle crossing tests. The prototype test results show that the robot can cross the obstacle of 10 mm height under the condition of 20 kg load.

A new structure of wall-climbing robot is proposed and verified. According to the test results, the wall-climbing robot can stably climb over the obstacle of 10 mm height under the condition of 20 kg load, which provides a new idea for future robot design.