Research on adsorption mechanism of wall climbing robots based on internally balanced theory  

作　　者：樊继壮 朱延河 赵杰 蔡鹤皋 

机构地区：[1]Robotics Institute,Harbin Institute of Technology

出　　处：《Journal of Harbin Institute of Technology(New Series)》2007年第3期423-427,共5页哈尔滨工业大学学报（英文版）

摘　　要：The internally balanced theory proposed by the Japanese researchers,solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism.However,it still has some problems when applied to wall climbing robots.This paper analyzes and improves this theory,and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly.Finally,a practical prototype is proposed based on this method,and both the analysis using ANSYS and the experiment results justify the design validity.The internally balanced theory proposed by the Japanese researchers, solved the contradiction between adsorption ability and moving capability of the permanent magnetic adsorption mechanism. However, it still has some problems when applied to wall climbing robots. This paper analyzes and improves this theory, and the improved internally balanced theory satisfies the requirements of the adsorption mechanism significantly. Finally, a practical prototype is proposed based on this method, and both the analysis using ANSYS and the experiment results justify the design validity.

关 键 词：permanent magnetic adsorption wall climbing robots internally balanced magnet theory adsorption mechanism 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]