新型除锈爬壁机器人附壁建模与仿真  

Wall-attachment Model and Its Simulation on a New Wall-climbing Robot for Rust Removal

作　　者：衣正尧[1,2] 弓永军[2,3] 王祖温[2] 王兴如[2,4] 

机构地区：[1]大连中远造船工业公司,辽宁大连116052 [2]大连海事大学船舶机电装备研究所,辽宁大连116026 [3]浙江大学流体传动及控制国家重点实验室,浙江杭州310027 [4]中远船务工程集团总公司,辽宁大连116113

出　　处：《四川大学学报（工程科学版）》2011年第2期211-216,共6页Journal of Sichuan University (Engineering Science Edition)

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

摘　　要：设计了1种永磁真空混合附壁的船舶壁面除锈爬壁机器人,该机器人负载大、本体重,机器人的附壁面法向存在水射流反冲力和真空负压压力。建立了机器人下滑和后翻两静态模型,结合船壁面法向的3种受力状态,分别对下滑模型和后翻模型进行了分析,并将两模型永磁单元所需吸附力进行了对比。仿真和实验结果表明,真空负压提高机器人附壁能力明显,可以较大地降低永磁吸附单元所需吸附力,减小机器人负载,较低的真空负压可实现辅助永磁良好附壁,在保证灵活运动的前提下吸附可靠。A permanent magnetic and vacuum mixed adsorption wall-climbing robot for ship rust removal was designed,in which there was water jet kick and vacuum negative pressure force in normal direction of wall surface.The static models for glide and tip back were established.The glide and the tip back models were analyzed,and the forced state of permanent magnetic unit between glide and tip back were compared.Simulation and experimental results showed that the vacuum negative pressure force improves the adsorption capacity obviously,the permanent magnetic and vacuum mixed adsorption may reduce the adsorption force greatly,and in the normal work,the robot can attach the wall in low vacuum negative pressure.

关 键 词：船舶壁面除锈 爬壁机器人 仿真分析 附壁性能 静态模型 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]