多体柔性永磁吸附爬壁机器人  

Wall Climbing Robot Employing Multi-body Flexible Permanent Magnetic Adhesion System

作　　者：桂仲成[1] 陈强[1] 孙振国[1] 

机构地区：[1]清华大学先进成形制造教育部重点实验室,北京100084

出　　处：《机械工程学报》2008年第6期177-182,共6页Journal of Mechanical Engineering

基　　金：国家高技术研究发展计划(863计划;2007AA04Z258);高校博士点基金(20060003069)资助项目

摘　　要：为实现永磁间隙吸附式爬壁机器人在复杂空间曲面上的可靠吸附与灵活运动,在分析爬壁机器人复杂空间曲面运行须解决的关键问题的基础上,基于爬壁机器人的多体动力学仿真和样机试验,设计了采用多体柔性吸附系统的间隙吸附式爬壁机器人,即爬壁机器人由轮式移动机构和吸附系统组成.吸附系统安装在轮式移动机构的底盘上,且和壁面是非接触的。吸附系统由多个相互独立的吸附装置构成,每个吸附装置通过具有2转动自由度的连接机构和轮式移动机构连接,并由被动的万向滚动轮部分或完全支撑在壁面上,各吸附装置在吸附力的作用下可自调节相对于壁面的位姿。对多体柔性吸附系统的曲面适应性进行优化。仿真及试验结果表明,多体柔性吸附爬壁机器人可自适应壁面形貌和曲率的变化,它在表面是复杂空间曲面的壁面上运行时的吸附和运动性能接近在平整壁面上运行时的相应性能,吸附可靠且运动灵活。To insure reliable adhesion and agile movement of the wall climbing robot （WCR） of gapped permanent magnetic adhesion type system on complex curved surface, key problems needed to be solved when the robot runs on such surfaces are analyzed. Then the scheme of WCR applying multi-body flexible adhesion system is put forward. WCR is composed of a wheeled locomotion mechanism and an adhesive system, and the adhesive system is mounted on the chassis of the wheeled locomotion mechanism and non-contact with the wall＇s surface. The adhesive system is made up of several separate adhesive devices, each adhesive device is connected to the wheeled locomotion mechanism through a mechanism with 2 rotating degrees of freedom and is partly or fully supported by several omnidirectional free-rolling wheels when running on the wall＇s surface, then each adhesive device can adjust its posture relative to the wall＇s surface due to the adhesive force. Multi-body dynamics simulation is conducted to design the WCR, the prototypes are manufactured to test the design, and the performance of adhesive system＇s self-adaptation to curved surface is optimized. Results of simulation and experiments indicate that the WCR can adapt to the change of curvature and shape of the wall surface automatically, the robot＇s performance of adhesion and mobility running on complex spatial curved surfaces is close to corresponding its performance on flat surfaces, which means that the robot is capable of running with large payload and good mobility on complex spatial curved surfaces.

关 键 词：爬壁机器人 永磁吸附 复杂曲面自适应 

分 类 号：TP242.3[自动化与计算机技术—检测技术与自动化装置]