摘要
Abstract
Magnetic-adhesion wall-climbing robots are extensively employed for the routine inspection of large-scale steel structures.At present,most of these robots adopt a crawler configuration.In view of the inherent conflict between adhesion force and mobility,and the difficulty of realizing alternative motion modes,a wheel-foot hybrid magnetic-adhesion wall-climbing robot was proposed.The unstable configurations of the robot and the wall-switching sequence are analyzed,and the minimum adhesion force required for a single electromagnet was derived.The electromagnetic adhesion unit,the climbing process,and the wall-switching process were simulated in Ansys Maxwell,confirming the validity of selection of the electromagnetic adhesion unit.Experimental results demonstrate that the robot can achieve stable climbing on surfaces of arbitrary inclination.关键词
爬壁机器人/电磁吸附/阳角换面/稳定性分析/磁场仿真Key words
wall climbing robot/magnetic adhesion/exposed corner switching/stability analysis/magnetic field simulation分类
信息技术与安全科学
