爬壁机器人变磁力吸附单元的优化设计  

Optimization of attracting devices with variable magnetic force for wall-climbing robots

作　　者：王军波[1] 陈强[1] 孙振国[1] 

机构地区：[1]清华大学机械工程系

出　　处：《清华大学学报（自然科学版）》2003年第2期214-217,226,共5页Journal of Tsinghua University(Science and Technology)

基　　金：国家"八六三"计划项目(863-512-9913-02);国家自然科学基金项目(59975050)

摘　　要：为解决磁吸附爬壁机器人吸附能力和运动性能之间的矛盾,设计了一种磁吸力可调的吸附单元;该单元在吸附于工件时,提供足够大的磁吸力,以满足机器人负载能力的要求,而当其脱离工件表面时,磁吸力减为最小,以提高机器人运动性能。该文通过有限元方法,建立了能够定量分析吸附单元磁吸力的数值计算模型,分析了不同结构参数和不同吸附条件下的磁吸力变化趋势,对结构参数进行了优化设计。试验结果表明,按照优化设计的结构参数制造的变磁吸力吸附单元,最大磁吸力可达290N,最小仅为9N。由此构成的变磁力爬壁机器人履带相比恒磁力履带,运行性能显著提高,驱动电机电流波动大为减小。The conflict between the attraction and mobility of wallclimbing robots was resolved by using a variable magnetism attracting device. When the device attaches to an iron/steel surface, it provides enough magnetic force to lift the robot load. While leaving the surface, the unit will minimize its magnetic force to improve the mobility. A FEM numerical model was developed to predict the magnetic force of the device. The varitions of the force with the design parameters and the attracting conditions were analyzed to optimize the design. Experiments show that the optimized device has excellent attraction on walls so that wallclimbing robots using this device can move more smoothly than without a variable magnetic force.

关 键 词：爬壁机器人 变磁力 吸附单元 优化设计 磁吸力 吸附能力 运动性能 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]