【摘要】 为了使爬壁机器人结构紧凑、轻量化程度高,提出了一种既可增加吸附能力,又不增加自身重量的新型吸附单元结构方案。首先,运用有限元方法,建立磁力三维理论计算模型,对关键参数进行定量分析,得到各个参数与吸附力的关系图。然后,采用多因素分析的方法,对主要关键参数进行了优化分析。通过实验验证,实验结果与仿真计算数据基本吻合。经过优化后,吸附力提升了21.4%,达到628N,验证了优化方法的合理性,为爬壁机器人的轻量化设计提供了依据。更多还原

【Abstract】 This paper presents a structure scheme of a new adsorption unit which can increase the adsorption capacity while not adding its weight.Firstly,the method of finite element was used to establish the three-dimensional theoretical calculation model of magnetic force,thus the key parameters were quantitatively analyzed,in this way,the relation schema of the parameters and the adsorption force was obtained.Then,the multi-factor analysis method was adopted to optimize the analysis of the main key parameters.It was found that the experimental results were basically consistent with the simulation data.After optimization,the adsorption force increased by 21.4% to 628 N,which verifies the rationality of the optimization method,providing a basis for the lightweight design of wall-climbing robots.更多还原