Abstract:A method of magnetic suspension that the robot is suspended by the amperage force of the energizing coil in the high voltage direct current (HVDC) magnetic field was proposed to solve the problem of slippage and wear of the traveling wheel of the arm-type inspection robot.The magnetic model of magnetic suspension was established and the relationship between magnetic suspension force and physical model parameters was analyzed theoretically.The model of magnetic suspension is simulated by COMSOL software.The results showed that the model can produce the suspension force in accordance with the theoretical calculation under different system parameters.Further,the influence of anti-vibration hammer on magnetic suspension force was also simulated and the results show that the effect of the anti-vibration hammer on the magnetic suspension force was very small.Finally,according to the proposed magnetic suspension model,the minimum magnetic system is designed and experimented.The experimental results showed that the magnetic suspension method proposed is feasible.