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Influence of magnetic wheel parameters on the adsorption force: (a) The relationship between the adsorption force and the air gap height under different inner radius of the magnet, (b) the relationship between the adsorption force and the air gap height under different yoke iron thicknesses, (c) the relationship between the adsorption force and the air gap height under different magnet center angles, and (d) description of magnetic wheel structure and size.
