应用于爬壁机器人的静电吸附原理建模及关键因素分析  

Principle modeling and key factors analysis of the electrostatic adhesion mechanism used in wall climbing robot

作　　者：王黎明[1,2] 胡青春[1] 

机构地区：[1]华南理工大学机械与汽车工程学院,广东广州510641 [2]中国科学院深圳先进技术研究院,广东深圳518055

出　　处：《电工电能新技术》2012年第1期64-68,共5页Advanced Technology of Electrical Engineering and Energy

摘　　要：本文对应用于静电吸附式爬壁机器人这一特殊领域的静电吸附原理进行分析,对静电力进行数学解析建模,通过施瓦兹-克里斯托菲数学变换重点分析影响梳状电极吸附力的结构因素,并借助Ansoft软件求解出不同占空比下的电极电容矩阵,最后通对设计的柔性板梳状电极进行实际实验测试,验证静电吸附在爬壁机器人应用上的可靠性。This paper includes an illustration of the electrostatic adhesion mechanism which is applied in the particular area of wall climbing robots.The adhesion mechanism of electrostatic adhesion technology will be researched at the beginning,then,the theoretical attraction force model between the electrodes and wall is built.Through the principle of virtual work,the paper obtains a mathematical expression of electrostatic adhesion,and for more complexity,makes a specific investigation of double electrodes type,which is the base of comb-shaped electrodes.Schwarz-Christoffel transform will be utilized in this part,and it is an effective method in dealing with non-uniform electric field.Next,Matlab software is used to analyze the key factors which affect the adsorption strength in the electrodes.To illustrate the problem further,a simulation of voltage between the electrodes is done.Finally,to verify this adhesive function,an experiment with comb-shaped electrodes is done,from which it can be concluded that electrostatic adhesion can be a large attraction power in wall-climbing robots application.

关 键 词：爬壁机器人 静电吸附 施瓦兹-克里斯托菲变换 梳状电极 

分 类 号：TM12[电气工程—电工理论与新技术]