共轴式双旋翼推力吸附机器人平台设计  

Design on Platform of Coaxial Twin-rotor Thrust Adsorption Robot

作　　者：薛朝军 王海波[1,2] XUE Chaojun;WANG Haibo(School of Mechanical Engineering,Southwest Jiaotong University,Chengdu 610031,China;Technology and Equipment of Rail Transit Operation and Maintenance Key Laboratory of Sichuan Province,Chengdu 610031,China)

机构地区：[1]西南交通大学机械工程学院,成都610031 [2]轨道交通运维技术与装备四川省重点实验室,成都610031

出　　处：《机械科学与技术》2022年第1期47-52,共6页Mechanical Science and Technology for Aerospace Engineering

基　　金：国家自然科学基金项目(51905451)。

摘　　要：本文把空气动力学结合到机械结构设计之中,设计了一款能在壁面灵活移动、能在简单的相邻壁面间翻越、具备一定量的负载能力、履带式行走方式、共轴双旋翼提供推力的机器人平台。先对选定翼型进行2维的外流场计算,求得"最经济状态点",以确定上、下旋翼的安装角分别为6°和5°。在此基础上,再求解出旋翼直径、旋翼机构推力与电机功率三者之间的关系。然后以旋翼直径为基础,对机器人平台的各个部分重量进行关联。最后把旋翼直径、电机功率和整机重量三者串联起来,建立Simulink模型,当旋翼直径等于376.4 mm时,求得最小重量的机器人平台。对旋翼安装角、直径和整机重量的探讨和计算,为下一步的三维仿真和实物搭建奠定基础。This paper combines aerodynamics with mechanical structure design,and designs a robot platform that can move flexibly on the wall,can transition between simple adjacent walls,can carry a certain weight,is caterpillar walking mode,and provide thrust with coaxial twin rotor wings.Firstly,the 2-dimensional external flow field of the selected rotor wing is calculated,and the“most economical state point”is obtained to determine the installation angle of the upper and lower rotor wings to be 6°and 5°respectively.Then,the relationship among rotor wing′s diameter,the mechanism of rotor wing′s thrust and motor power is solved.The weight of each part of the platform is then correlated based on the rotor wing′s diameter.Finally,the rotor wing′s diameter,motor power and machine weight are connected in series to establish Simulink simulation model.When the rotor wing′s diameter is equal to 376.4 mm,the robot platform with the minimum weight is obtained.The discussion and calculation of rotor wing′s mounting angle,diameter and weight of the whole machine lay a foundation for the next step of 3D simulation and physical construction for robot platform.

关 键 词：机器人平台 安装角 旋翼 整机重量 

分 类 号：TG156[金属学及工艺—热处理]