工程设计学报2025，Vol.32Issue(2)：169-181,13.
风电塔筒用变曲率自适应爬壁机器人运动特性分析与磁吸附模块优化
Motion characteristics analysis and magnetic adsorption module optimization of variable curvature adaptive wall-climbing robot for wind power tower
摘要
Abstract
Aiming at the problem that traditional wall-climbing robots cannot adapt to the variable curvature wall of wind power towers,taking the fast stability and turning flexibility of the wheeled mobile mechanism as the starting point,the attitude change of the wheeled mobile mechanism moving on the variable curvature wall was analyzed,and on this basis,a new wall-climbing robot adopting split wheeled movement and gap permanent magnetic adsorption technology was designed.Firstly,a multi-state motion model for the wall-climbing robot was established,and the adaptive motion characteristics of the robot moving on the variable curvature wall by using the attitude adjustment of its own split structure were analyzed.Then,the magnetic adsorption module of the wall-climbing robot was optimized,and the optimal structural parameters under high adsorption efficiency were obtained through parametric analysis.The experiment results showed that the structural design of the new wall-climbing robot was reasonable,and it could realize the adaptive and reliable motion on the variable curvature wall.The designed wall-climbing robot can provide an efficient and safe solution for the maintenance of wind power towers,which has important engineering application value.关键词
爬壁机器人/变曲率自适应/姿态调整/分体轮式移动/永磁吸附Key words
wall-climbing robot/variable curvature adaptive/attitude adjustment/split wheeled movement/permanent magnetic adsorption分类
机械工程引用本文复制引用
李享,李科,张明路,高春艳,李满宏..风电塔筒用变曲率自适应爬壁机器人运动特性分析与磁吸附模块优化[J].工程设计学报,2025,32(2):169-181,13.基金项目
中央引导地方科技发展资金资助项目(226Z1811G,62602010243) （226Z1811G,62602010243）
河北省高等学校科学技术研究项目(JZX2023015) （JZX2023015）
