可自适应变曲率立面的分体柔性爬壁机器人设计与分析

doi:10.3901/JME.2021.03.049

机械工程学报 ›› 2021, Vol. 57 ›› Issue (3): 49-58.doi: 10.3901/JME.2021.03.049

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可自适应变曲率立面的分体柔性爬壁机器人设计与分析

王洋, 张小俊, 张明路, 孙凌宇

河北工业大学机械工程学院天津 300130

收稿日期:2020-05-07 修回日期:2020-08-20 出版日期:2021-02-05 发布日期:2021-03-16
通讯作者: 张小俊(通信作者),男,1980年出生,博士,教授,硕士研究生导师。主要研究方向为特种机器人技术,智能机器人技术。E-mail:xjzhang@hebut.edu.cn
作者简介:王洋,男,1991年出生,博士研究生。主要研究方向为特种机器人,爬壁机器人系统。E-mail:wangyang0708lbj@163.com
基金资助:
国家重点研发计划（2018YFB1309401）、河北省自然科学基金重点（E2018202338）和河北省科学技术厅-河北工业大学科技创新战略（20180603）资助项目。

Design and Analysis of Split-flexible Wall-climbing Robot with Adaptive Variable Curvature Façade

WANG Yang, ZHANG Xiaojun, ZHANG Minglu, SUN Lingyu

School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130

Received:2020-05-07 Revised:2020-08-20 Online:2021-02-05 Published:2021-03-16

摘要/Abstract

摘要： 为解决传统爬壁机器人在复杂大型金属立面上的变曲率自适应问题，以履带与曲面的有效接触为出发点，分析在自适应曲面运动时履带式移动构型的姿态变化规律，提出一种基于分体柔性履带移动与间隙式永磁吸附的自适应爬壁机器人；建立多状态下移动模型，分析机器人在变曲率立面移动及焊缝越障过程中利用自身姿态变化实现自适应的运动特性；构建间隙式永磁吸附模型，利用参数化仿真分析了壁厚、磁隙等对吸附能力的影响；通过样机平台试验表明，机器人能以合理的运动姿态实现在变曲率立面上的大负载灵活可靠运动，具有较好的变曲率自适应能力及越障能力。

关键词: 爬壁机器人, 姿态调整, 自适应, 变曲率立面, 分体柔性

Abstract: In order to solve the adaptive problem of variable curvature of traditional wall climbing robots on complex and large metal facades. The effective contact between the track and the surface as the starting point, the law of attitude change of caterpillar movement configuration in adaptive surface motion is analyzed. A self-adaptation wall-climbing robot is proposed, which based on split-flexible track movement and clearance permanent magnet adsorption. The multi-state motion model is built, and the self-adaptation motion characteristics of the robot are analyzed, by using itself posture chang in the process of moving on the variable curvature facade and crossing the barrier of the weld. Clearance permanent magnet adsorption model is constructed, and the influence of wall thickness and magnetic gap on the adsorption capacity is analyzed by means of parametric simulation. Through the test of prototype platform, it is shown that the robot can move flexibly and reliably under large loads on the facade with variable curvature with reasonable motion posture, and has good ability of adapting variable curvature and overcoming obstacles.

Key words: wall-climbing robot, attitude adjustment, self-adaptation, variable curvature façade, split-flexible

中图分类号:

TP242

王洋, 张小俊, 张明路, 孙凌宇. 可自适应变曲率立面的分体柔性爬壁机器人设计与分析[J]. 机械工程学报, 2021, 57(3): 49-58.

WANG Yang, ZHANG Xiaojun, ZHANG Minglu, SUN Lingyu. Design and Analysis of Split-flexible Wall-climbing Robot with Adaptive Variable Curvature Façade[J]. Journal of Mechanical Engineering, 2021, 57(3): 49-58.

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可自适应变曲率立面的分体柔性爬壁机器人设计与分析

Design and Analysis of Split-flexible Wall-climbing Robot with Adaptive Variable Curvature Façade

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