具有良好壁面过渡能力的新型爬壁机器人动力学建模与分析  

Dynamic Modeling and Analysis of New Climbing Robot with Good Wall Transition Capability

作　　者：刘泉[1] 陈志华[1,2] LIU Quan;CHEN Zhihua(School of Electromechanical Engineering,Beijing Information Science and Technology University,Beijing 100192,China;Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation,Beijing Institute of Technology,Beijing 100081,China)

机构地区：[1]北京信息科技大学机电工程学院,北京100192 [2]北京理工大学自动化学院复杂系统智能控制与决策国家重点实验室,北京100081

出　　处：《机床与液压》2018年第23期1-5,42,共6页Machine Tool & Hydraulics

基　　金：北京市教委科技成果转化和产业化项目(PXM2013014224_000071)

摘　　要：不同类型的环境和凹凸不平的壁面对爬壁机器人的平稳性和可靠性提出要求,设计一种轮足式永磁吸附检测风力发电机故障的爬壁机器人,该机器人具有一定的负载能力、越障能力、灵活可靠等特点,可以实现水平壁面到竖直墙壁的交互式过渡。根据永磁吸附爬壁机器人运动原理,设计其机械结构并建立机器人沿风力发电机塔筒向上、向下以及悬壁面3种姿态的力学和运动学模型,运用Matlab/Simulink软件,对爬壁机器人在不同位置下瞬时启动的加速度进行仿真,最后利用ADAMS软件对爬壁机器人壁面越障进行了实验仿真。样机实验及仿真实验结果表明:该新型爬壁机器人在运行中平稳可靠,能够很好地实现壁面平稳过渡,为爬壁机器人在实际作业中平稳运动提供了理论依据。Different types of environment and uneven wall on the stability and reliability of the wall climbing robot’s request,design of a wheel legged wall climbing robot for permanent magnetic adsorption fault detection of wind turbines,the robot has load ability,obstacle capability,flexible and reliable and can achieve the level of the wall to the vertical wall of the interactive transition.According to the permanent magnet adsorption wall climbing robot principle,mechanics and kinematics model was established along the wind generator tower up and down and hanging wall of three kinds of attitude and design of the mechanical structure,the use of Matlab/Simulink software,the simulation of wall climbing robot starting at different positions under acceleration at instant,the ADAMS software was used to simulate the obstacle climbing of wall climbing robot.The experimental and simulation results show that the new type of wall climbing robot is stable and reliable in operation,can realize the smooth transition of the wall very good,which for wall climbing robot in the actual operating steady movement provides a theoretical basis.

关 键 词：爬壁机器人 受力分析 动力学仿真 壁面过渡 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]