magnetic wheels on a vertical plane

Hello everyone,

I am simulating a rover with a magnetic wheel which can climb on the vertical steel walls. For this purpose, I am using the mars rover example. I have completely setup my model on the mars rover model. The only problem is how to apply the magnetic forces so that during the trajectory of the rover there is no detachment from the wall. I am using spatial contact blocks for the normal and friction forces. The torque is supplied to wheels in the similar manner as in the case of the mars rover. I have used the clouds points for contact forces between the wheels and the wall. I was using internal forces for giving magnetic force of attraction, but due to its application between the origins of the wheel and surface frames, the wheels just stopped moving. Now I am using two 8 spatial contact blocks, two for each each wheel.

I am think do this:--- For each wheel, from one spatial contact block, I am getting the Normal Forces, Penetration, and Penetration Velocity, and I am applying these normal forces into the other spatial contact block, in the opposite direction, so that it acts at the magnetic force of attraction. In theory, the two forces, normal and magnetic, should balance each other.

Is this approach valid? Is there any other way to do it. I am facing problem in understanding how the frames can be defined for the cloud points so that I can use external force and torque block.

Please help me.

Thank you.

Answer 1

[Adarsh]

Hi @Gaurav,

I understand that you are trying to model the magnetic forces for attraction correctly between the rover and the wall.

I have came across a similar question related to modeling Magnetic force of attraction using Simscape Multibody blocks in the following MATLAB Answers post :

https://www.mathworks.com/matlabcentral/answers/2174359-is-it-possible-to-model-magnetic-attraction-connections-in-simscape-multibody

I hope this link provides the details that you are looking for!