小型磁吸附爬壁机器人的设计与实验验证  

Design and Experimental Verification of Small-Scale Magnetic Adsorption Wall-Climbing Robots

作　　者：唐陈伟 李建磊 姚红良[1] 贾如玉 TANG Chen-wei;LI Jian-lei;YAO Hong-liang;JIA Ru-yu(School of Mechanical Engineering&Automation,Northeastern University,Shenyang 110819,China.)

机构地区：[1]东北大学机械工程与自动化学院,辽宁沈阳110819

出　　处：《东北大学学报(自然科学版)》2025年第1期68-75,共8页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(52075084).

摘　　要：针对传统爬壁机器人结构复杂、体积庞大等问题,设计了一种能够在竖直壁面上移动的新型小型磁吸附爬壁机器人,可满足在狭小空间内运动的需求.基于振动驱动理论,设计了具有扭转特性的足部结构并采用磁吸附的黏附机制,建立了爬壁机器人的动力学模型.通过数值仿真,分析了激振频率和外部负载对机器人运动速度的影响规律,结果表明,在无负载时,机器人最大爬壁速度可达58.7 mm/s,而在负载0.7倍自身质量条件下,其最大爬壁速度为44.9 mm/s.实验验证进一步表明,机器人在无负载和负载条件下的最大爬壁速度分别为56.5和30.2 mm/s,并通过调节激振频率,可以实现对机器人运动速度和方向的有效控制.To address the challenges of complex structures and large sizes in traditional wall‑climbing robots,a novel small‑scale magnetic adsoprtion wall‑climbing robot was designed,capable of maneuvering on vertical surfaces and meeting the operational requirements in confined spaces.Based on the vibration‑driven theory,a foot structure with torsional characteristics was designed,incorporating a magnetic adsorption mechanism.A dynamic model of the wall‑climbing robot was established,and numerical simulations were performed to analyze the effect of excitation frequency and external load on the robot’s motion speed.The results indicated that the robot achieves the maximum climbing speed of 58.7 mm/s under no‑load conditions and 44.9 mm/s when carrying a load equivalent to 0.7 times its own mass.Experimental validation further demonstrated the maximum climbing speeds of 56.5 and 30.2 mm/s under no‑load and loaded conditions,respectively.Additionally,by adjusting the excitation frequency,the robot’s motion speed and direction can be effectively controlled.

关 键 词：爬壁机器人 小型机器人 振动驱动 磁吸附 扭转特性 

分 类 号：TD451[矿业工程—矿山机电]