机器人2011，Vol.33Issue(4)：405-410,501,7.DOI:10.3724/SP.J.1218.2011.00405
变磁力吸附爬壁机器人的结构设计与爬越焊缝特性
Structure Design and Weld Seam Surmounting Characteristic of a Wall-climbing Robot with Variable Magnetic Adsorption Force Device
摘要
Abstract
To improve reliability and security of the oil tank inspection operation, a wall-climbing robot mechanism with variable magnetic adsorption device is proposed and its weld seam surmounting characteristic is studied. Firstly, The ANSYS platform is used to carry out simulation analysis on the variable magnetic adsorption device, and the magnetic flux density distribution and magnetic adsorption force of the robot body are gotten. Then, a dynamic model of the weld seam surmounting process is established. The ADAMS is used to carry out dynamics simulations, and the variation curve of magnetic adsorption force during the course is gotten. The reasonableness and practicality of the proposed suructure are verified by analysis.关键词
爬壁机器人/变磁力/焊缝/ANSYS/ADAMS仿真Key words
wall-climbing robot/ variable magnetic force/ weld seam/ ANSYS/ ADAMS simulation分类
信息技术与安全科学引用本文复制引用
闻靖,顿向明,缪松华,顿向勇,山磊..变磁力吸附爬壁机器人的结构设计与爬越焊缝特性[J].机器人,2011,33(4):405-410,501,7.基金项目
江苏省科技支撑计划资助项目(BE2010054). （BE2010054）
