【摘要】 为适应油罐外壁危险作业需要,设计了一款具有有效吸附力和灵活移动能力的新型轮式永磁吸附爬壁机器人。为满足爬壁机器人吸附力平稳并具有负载能力的要求,对爬壁机器人进行静力学分析和动力学建模,得到爬壁机器人在壁面运行的安全吸附力,以保证不发生滑移和倾覆。利用有限元软件分析了磁吸附系统磁铁与壁面间距离、轭铁厚度和磁铁之间距离等结构参数对吸附力的影响规律,并获得最佳结构尺寸。通过实验装置对吸附力进行验证,结果表明实验结果与仿真结果的变化趋势基本一致,为后续的模型制作和改进提供了参考。更多还原

【Abstract】 In order to satisfy the need of perilous wall working on oil-tank,a new magnetic wheel wall-climbing robot with effective adsorption capacity and flexible mobility was presented.To satisfy the requirements of stable adsorption capacity and payload capacity,the static and dynamic model of wall-climbing robot was built to avoid robot slipping and overturning and the safety value of adsorption capacity was obtained.Using finite element analysis software,variations of adsorption capacity with the parameters such as different air gap,yoke thickness,distance between magnets of permanent-magnetic adhesion element were analyzed to obtain the best value of structure parameters.Afterward,actual adsorption capacity was contrasted with simulation value through experiment.The results show that the experimental results are in good agreement with the simulation results and can provide references for the following making and improving model.更多还原