爬壁机器人磁吸附模块设计分析与结构参数优化  

Design analysis and structural parameter optimization for magnetic adsorption module of wall-climbing robot

作　　者：杨培[1] 张明路[1] 孙凌宇[1] YANG Pei;ZHANG Minglu;SUN Lingyu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300130,China)

机构地区：[1]河北工业大学机械工程学院,天津300130

出　　处：《工程设计学报》2024年第5期592-602,共11页Chinese Journal of Engineering Design

基　　金：国家重点研发计划资助项目(2018YFB1309400);慧眼行动计划资助项目(62602010243);河北工业大学学科交叉方向研究生培养资助项目(HEBUT-Y-XKJC-2021119)。

摘　　要：作为磁吸附式爬壁机器人的关键部件,磁吸附模块的结构通常会影响机器人的整体质量及吸附稳定性。针对磁吸附模块磁路耦合关系复杂、优化设计困难等问题,结合虚拟仿真技术、代理模型和蜣螂优化算法提出了一种磁吸附模块结构优化方法,以提高其磁力计算和优化设计过程的效率。首先,介绍了爬壁机器人的结构设计方案,并通过对现有的Halbach阵列磁路模式进行仿真分析,确定了三磁路模式具有相对较高的吸附效率;同时,基于初设参数对磁吸附模块磁力仿真模型进行了实验验证,为后续代理模型的建立奠定了基础。然后,建立了以机器人吸附稳定性和结构参数为约束、以磁吸附模块轻量化为目标的优化模型。采用最优拉丁超立方设计、ANSYS参数化建模以及代理模型技术建立了磁吸附模块磁力与结构参数之间的四阶响应面模型,并对其可信度进行了验证。利用蜣螂优化算法对磁吸附模块的结构参数优化模型进行了求解。结果表明,所建立的代理模型的预测误差很小,能够较好地表征磁吸附模块磁力与结构参数之间的关系;优化后磁吸附模块的质量减小了12.7%。最后,通过机器人负载实验验证了优化过程的正确性。研究结果可为其他磁吸附式机器人的磁力分析与结构优化提供参考。As a vital component of the magnetic adsorption wall-climbing robot,the structure of the magnetic adsorption module usually affects the overall mass and adsorption stability of the robot.Aiming at the problems of complex magnetic circuit coupling relationship and complicated optimization design of magnetic adsorption modules,a magnetic adsorption module structure optimization method is proposed by combining virtual simulation technology,surrogate model and dung beetle optimization algorithm to improve the efficiency of magnetic force calculation and optimization design process.Firstly,the structure design scheme for the wall-climbing robot was introduced,and through the simulation analysis of the existing Halbach array magnetic circuit modes,it was determined that the three-magnetic circuit mode had relatively high adsorption efficiency.At the same time,the magnetic force simulation model of the magnetic adsorption module was experimentally verified based on the initial parameters,which laid the foundation for establishing subsequent surrogate models.Then,an optimization model with the robots adsorption stability and structural parameters as constraints and the lightweight of the magnetic adsorption module as objective was established.A fourth-order response surface model between the magnetic force and the structural parameters of the magnetic adsorption module was established by the optimal Latin hypercube design,ANSYS parametric modeling and surrogate model technology,and its credibility was verified.The structural parameter optimization model of the magnetic adsorption module was solved by using the dung beetle optimization algorithm.The results showed that the prediction error of the established surrogate model was tiny,and the relationship between the magnetic force and the structural parameters of the magnetic adsorption module could be well expressed.After optimization,the mass of the magnetic adsorption module was reduced by 12.7%.Finally,the correctness of the optimization process was verified through ro

关 键 词：爬壁机器人 磁吸附模块 代理模型 参数优化 磁路仿真分析 

分 类 号：TP242.2[自动化与计算机技术—检测技术与自动化装置]