中文摘要：

为了利用Halbach阵列磁场单边性的特点，以进一步提高Halbach型永磁吸附机构的磁吸附性能和降低其自身重量，设计了一种基于Halbach阵列的新型永磁吸附机构并对其进行了研究。运用有限元法建立了该永磁吸附机构磁场的二维有限元数学模型，导出了磁感应强度和磁吸附力的有限元计算表达式。运用改变参数法分析了结构参数对磁吸附性能的影响，采用遗传算法对结构参数进行了优化，并通过对磁吸附力的实验测量验证了Halbach型永磁吸附机构磁性能的优越及优化结果的正确性。

英文摘要：

A novel permanent magnetic adhesion device based on Halbach array was designed and studied to utilize the advantage of one-side magnetic field characteristics of Halbach arrays to improve the magnetic adhesion performance of Halbach permanent magnetic adhesion devices and reduce their weight. The two dimensional mathematic model for the magnetic field of the permanent magnetic adhesion device was established by using the finite element method, and the finite element calculation expressions of the magnetic flux density and the magnetic force were derived. The influences of configuration parameters on the magnetic adhesion performance were analysed by using the parameter variation method. The optimization of configuration parameters of the device was done by using genetic algorithms, and the results and their correctness were proved by the magnetic force measurement.