【摘要】 运用键图理论建立了爬壁机器人负压吸附动力学过程模型,并对其进行了仿真及实验分析。针对爬壁机器人的特点,对负压吸附系统的技术要求进行了详细分析,设计了高效率负压吸附系统。在对负压吸附系统进行合理的假设和流体力学分析的基础上,运用键图理论针对不同物理域具有参数等效的特点,把负压吸附流体系统参数等效为机械动力学中的力、位移、刚度和阻尼;负压吸附动力学模型等效为一阶的机械系统,建立了键图模型,应用20sim软件进行仿真。仿真结果显示,爬壁机器人负压吸附过程在负压形成过程中是一阶响应过程,系统响应时间为1.5 s。最后进行了试验测试,测试结果证明了所建立模型的正确性。更多还原

【Abstract】 On the basis of bond graph theory,the mathematical model of a transient sucking process was established and analyzed to improve the performance of a wall-climbing robot.A high efficient suction system was analyzed and designed to meet the requirements of the wall-climbing robot.By reasonable assumptions and fluid dynamic analysis,the parameters of the sealing system were equivalent to the force,displacement,rigidity and the damp by bond graph theory,and the relationship between the negative pressure generated by the fan and the motor’s input voltage was simplified to a first-order expression.The simulation results show the transient process of the negative pressure generating dynamic process of the wall climbing robot is a first-order expression and the response time is 1.5 s.Finally,the experiments were carried out and the results confirm the validity of the research model.更多还原