机械科学与技术2024，Vol.43Issue(5)：837-843,7.DOI:10.13433/j.cnki.1003-8728.20230042
履带式爬壁机器人运动学建模与磁吸附设计
Kinematic Modeling and Magnetic Adsorption Design of Crawler Wall-climbing Robot
摘要
Abstract
To improve the wall attachment stability of a crawler wall-climbing robot equipped with high-pressure water jet devices and the structural characteristics of the designed wall-climbing robot,the kinematic model of a wall-climbing robot adsorbing on the ship wall is established.The factors affecting the wall attachment performance of the wall-climbing robot are analyzed and solved.Its magnetic adsorption unit is designed,and the relationship between the magnetic force and gap of the magnetic adsorption unit in the N-S magnetization and the Halbach magnetization direction is analyzed.With the help of the tensile testing machine,the reliability of the permanent magnetic adsorption unit is tested and verified.For the functional prototype,tests of indoor horizontal walking and vertical wall climbing of a 1∶1 real ship model are carried out to verify the correctness of the analysis results,thus paving the way for the further structural optimization design and dynamic analysis of the crawler wall-climbing robot.关键词
爬壁机器人/磁吸附/Halbach阵列/运动学Key words
wall-climbing robot/magnetic adsorption/Halbach array/kinematics分类
信息技术与安全科学引用本文复制引用
赵飞..履带式爬壁机器人运动学建模与磁吸附设计[J].机械科学与技术,2024,43(5):837-843,7.基金项目
工信部高技术船舶科研项目(MC-202031-Z07)与镇江市产业前瞻与共性关键技术项目(GY2020009,GY2021002) （MC-202031-Z07）
