复合吸附方式的攀爬机器人吸附能力研究  

Study on the Capacity of the Composited Adsorption on Climbing Robot

作　　者：张宝庆[1] 朱人杰[1] 杨佳蒙[1] 张光宇[1] 

机构地区：[1]长春理工大学机电工程学院,吉林长春130012

出　　处：《机械设计与制造》2016年第8期250-252,255,共4页Machinery Design & Manufacture

基　　金：吉林省科技发展计划资助项目(KYC-JC-XM-2014-025);吉林省大学生创新创业训练计划项目(2014S032)

摘　　要：针对攀爬机器人工作壁面多样性、复杂性的特点,基于传统真空吸附技术,提出采用推力和负压复合吸附方式。运用ANSYS-CFX模块,采用3因素5水平的正交试验,着重对流域结构、吸盘与壁面间隙两方面因素对吸附力的影响进行极差与方差分析得知风扇转速对吸附力影响最大。试验表明,通过优化为圆锥形状流域,提出最佳的实验组合,提升吸附能力约120%,同时将复杂凹凸平面对吸附力的影响降低近50%,对提升机器人在复杂墙面吸附的适应能力有借鉴意义。Based on the traditional vacuum technology,on adsorption combined with force and negative was put forward due to climbing wall for robot,which had features of diversity and complexity. According to the range analysis and variance analysis achieved by the orthogonal experiment using ANSYS-CFX, the most sensitive factor to the capability of adsorption was the rotation speeds of fans. Experiments showed that after the conical shape basin was optimized,if the best combination would be proposed,it would result in doubling the capacity of adsorption and reducing the impact of the complex walls on the capacity of adsorption nearly 50 percera. The result would have reference to enhancing the ability of climbing robot to adapt in complex walls.

关 键 词：攀爬机器人 复合吸附 ANSYS-CFX 正交试验 

分 类 号：TH311[机械工程—机械制造及自动化]