变磁力吸附爬壁机器人的结构设计与爬越焊缝特性  

Structure Design and Weld Seam Surmounting Characteristic of a Wall-climbing Robot with Variable Magnetic Adsorption Force Device

作　　者：闻靖[1] 顿向明[1] 缪松华[1] 顿向勇 山磊 

机构地区：[1]上海交通大学机器人研究所,上海200240 [2]常州远量机器人技术有限公司,江苏常州213100

出　　处：《机器人》2011年第4期405-410,501,共7页Robot

基　　金：江苏省科技支撑计划资助项目(BE2010054)

摘　　要：为提高储油罐壁检测作业的可靠性和安全性,研究设计了一种变磁力吸附机器人本体结构并研究其爬越焊缝特性.首先基于ANSYS平台对机器人变磁力吸附单元进行仿真分析,得到了机器人本体的磁感应强度分布及磁吸附力.然后建立了爬越焊缝过程的动力学模型,应用ADAMS对其进行动力学仿真分析,得到了该过程中的磁吸附力变化曲线.通过分析验证了机构的合理性和实用性.To improve reliability and security of the oil tank inspection operation,a wall-climbing robot mechanism with variable magnetic adsorption device is proposed and its weld seam surmounting characteristic is studied.Firstly,The ANSYS platform is used to carry out simulation analysis on the variable magnetic adsorption device,and the magnetic flux density distribution and magnetic adsorption force of the robot body are gotten.Then,a dynamic model of the weld seam surmounting process is established.The ADAMS is used to carry out dynamics simulations,and the variation curve of magnetic adsorption force during the course is gotten.The reasonableness and practicality of the proposed structure are verified by analysis.

关 键 词：爬壁机器人 变磁力 焊缝 ANSYS ADAMS仿真 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]