Design and Simulation of ROV Wheel Electromagnetic Adsorption Structure

This paper investigates the wheeled magnetic adsorption structure of a remotely operated underwater vehicle (ROV), with the objective of replacing manual labor in the inspection of underwater ferromagnetic surfaces. It integrates wheeled wall-climbing technology and electromagnetic adsorption to ensure stable adhesion on various wall geometries. The propulsion system employs differential motors driving rubber wheels, utilizing a variable-diameter walking mechanism to adapt to different wall profiles. Additionally, a comprehensive safety analysis of the design structure was conducted to determine the minimum required adsorption force. A detailed evaluation of the electromagnet selection and performance reveals the impact of current on the magnetic adsorption force. Simulation experiments were performed to validate the optimal design parameters. The experimental results demonstrate that the proposed design is both rational and reliable, providing a solid foundation for future applications such as the inspection and maintenance of marine platform jacket structures.