System and method for actuation to control magnetic wheel adhesion

A vehicle comprising:

• a chassis;
• a wheel coupled to the chassis and having an inner annular disc and an outer annular disc and configured to adhere magnetically to a metallic surface, wherein at least one of the inner annular disc and the outer annular disc has a magnetic element;
• and
• an actuation system disposed in the chassis and coupled to the wheel, having:
• a motor configured to rotate a first disc of the inner annular disc or the outer annular disc, and to not rotate a second disc of the inner annular disc or the outer annular disc,
• wherein in a first configuration, the motor rotates the first disc relative to the second disc by a predetermined rotational angle in a first rotational direction, thereby generating a first magnetic flux between the metallic surface and one of the first disc and the second disc to increase the adhesion of the wheel to the metallic surface, and
• wherein in a second configuration, the motor rotates the first disc relative to the second disc by a predetermined rotational angle in a second rotational direction opposite the first rotational direction, thereby generating a second magnetic flux between the metallic surface and the one of the first disc and the second disc to decrease the adhesion of the wheel to the metallic surface,
• wherein the second magnetic flux is less than the first magnetic flux.

A method, comprising:

• providing a vehicle having a wheel with an inner annular disc and an outer annular disc and configured to adhere magnetically to a metallic surface, wherein at least one of the inner annular disc and the outer annular disc has a magnetic element;
• providing an actuation system disposed in the vehicle and coupled to the wheel, having:
• a motor configured to rotate a first disc of the inner annular disc or the outer annular disc, and to not rotate a second disc of the inner annular disc or the outer annular disc;
• rotating the first disc relative to the second disc by a predetermined rotational angle in a first rotational direction;
• generating a first magnetic flux between the metallic surface and one of the first disc and the second disc to increase the adhesion of the wheel to the metallic surface;
• rotating the first disc relative to the second disc by a predetermined rotational angle in a second rotational direction opposite the first rotational direction;
• and
• generating a second magnetic flux between the metallic surface and the one of the first disc and the second disc to decrease the adhesion of the wheel to the metallic surface,
• wherein the second magnetic flux is less than the first magnetic flux.