重载履带式爬壁机器人力学建模与仿真  

Mechanical modeling and simulation of heavy-duty crawler wall-climbing robot

作　　者：赵飞 ZHAO Fei(School of Electrical and Information,Zhenjiang College,Zhenjiang 212028)

机构地区：[1]镇江市高等专科学校电气与信息学院,江苏镇江212028

出　　处：《机械设计》2025年第2期148-154,共7页Journal of Machine Design

基　　金：工信部高技术船舶科研项目(MC-202031-Z07);镇江市产业前瞻与共性关键技术资助项目(GY2020009);镇江市产业前瞻与共性关键技术资助项目(GY2021002)。

摘　　要：针对搭载高压水射流装置的重载履带式爬壁机器人附壁稳定性问题,文中单纯采用永磁吸附可安全附壁,真空吸附条件下按照安全冗余的原则进行力学建模。分析了机器人在抗下滑和抗后翻状态下,永磁吸附单元所需吸附力与船舶壁面倾斜角度的关系;分析了机器人直线匀速运动、直线加速运动和转向运动下,驱动转矩与船舶壁面倾斜角度的关系。采用仿真分析结果搭建了功能性样机,开展了直线和转向运动、垂直爬壁和1∶1实船模型的爬壁试验,验证了结果的正确性,为工程化样机积累了原始数据,为机器人结构优化奠定了基础。Aiming at the problem of wall attachment stability of heavy-duty tracked wall climbing robot equipped with highpressure water jet device,the mechanical modeling is carried out according to the principle that permanent magnet adsorption can be safely attached to the wall,and the safety redundancy can be achieved under the condition of vacuum adsorption.The relationship between the adsorption force required by the permanent magnet adsorption unit and the inclination angle of the ship wall is analyzed when the robot is anti sliding and anti overturning;The relationship between the driving torque and the inclination angle of the ship wall under the linear uniform motion,linear acceleration motion and steering motion of the robot is analyzed.The functional prototype was built based on the simulation analysis results,and the wall climbing tests of linear and steering motion,vertical wall climbing and 1:1 real ship model were carried out,which verified the correctness of the results,accumulated the original data for the engineering prototype,and laid the foundation for the structure optimization of the robot.

关 键 词：爬壁机器人 运动学 动力学 数值仿真 

分 类 号：TP241[自动化与计算机技术—检测技术与自动化装置]