新型船舶壁面除锈爬壁机器人动力学建模与分析  

Dynamic Modeling and Analysis on a New Type Wall-climbing Robot for Ship Wall Rust Removal

作　　者：衣正尧[1] 弓永军[1] 王祖温[1] 王兴如 

机构地区：[1]大连海事大学船舶机电装备研究所,大连116026 [2]中远船务工程集团有限公司,大连116113

出　　处：《机械工程学报》2010年第15期23-30,共8页Journal of Mechanical Engineering

基　　金：国家自然科学基金(50805011);交通部基础研究基金(225030);中远船务重大基金(G2-07-0060)资助项目

摘　　要：设计一种履带式永磁真空混合吸附的船舶壁面除锈爬壁机器人,该机器人具有负载大、本体重特点,且机器人负载质量以及重心位置随爬壁高度变化。根据机器人爬壁运动原理,建立机器人沿船舶壁面上爬和转弯的动力学模型,运用模糊优化理论对模型进行优化和仿真分析,规划机器人的安全工作范围,分析机器人在典型爬壁高度下的驱动上爬能力,讨论在理论转矩、最大转矩和额定转矩下的机器人上爬的高度与角度关系,研制试验样机进行爬壁转弯试验、定负载上爬试验和变负载上爬试验。仿真和试验结果表明,机器人动力学优化模型可靠,运动性能受永磁吸附力、真空力、射流反击力等影响很小,而受本体重力、爬壁高度和壁面倾角影响较大,所规划的机器人安全工作范围合理。A tracked wall climbing robot for ship rust removal is designed, which is adsorbed by permanent magnetic and vacuum mixed adsorption. The robot has the characteristics of heavy body and heavy load, and the load mass and the center of gravity position change with the climbing high. According to the climbing wall working principle, the kinematics models which contain the robot climbing and turning on the ship wall are established. The models are optimized by using fuzzy optimization theory and analyzed by simulation, and the safe working range is planned. Then the kinematics climbing ability is analyzed, and the relation between upward climbing height and ship wall tilt angle is discussed with theoretical torque, maximum torque and rated torque. An experimental prototype is developed for carrying out wall-climbing turning, fixed load climbing and variable load climbing tests. Simulation and test results show that the optimization model is reliable, the permanent magnetic adsorption force, vacuum force and water jet force have little effect on motion performance, but the robot body weight, wall-climbing height and ship wall tilt angle have great effect on it, and the planned safe working range is reasonable.

关 键 词：船舶壁面除锈 爬壁机器人 动力学模型 模糊优化 仿真分析 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]