• CN:11-2187/TH
  • ISSN:0577-6686

›› 2004, Vol. 40 ›› Issue (3): 168-172.

• 论文 • 上一篇    下一篇

爬壁机器人履带多体磁化结构吸盘的设计及优化

徐泽亮;马培荪   

  1. 上海交通大学机械与动力工程学院
  • 发布日期:2004-03-15

DESIGN OF THE WALL-CLIMBING ROBOT’S TRACKED SUCKER BASED ON MULTI-BODY MAGNETIC GRADUAL ALTERNATIE SYSTEM

Xu Zeliang;Ma Peisun   

  1. Shanghai Jiaotong University
  • Published:2004-03-15

摘要: 介绍了基于稀土永磁均匀磁化特性而研究设计的有别于传统普通吸盘结构的爬壁机器人履带多体磁化结构吸盘。根据履带吸盘工作状况特点和稀土永磁均匀磁化的特性,首先建立了履带吸盘与金属壁面间隙工作空间的镜像简化模型,推导出间隙工作空间y方向的磁场强度的计算表达式。通过仿真结果和对比试验都证明,该履带吸盘的平均磁场强度和吸力比普通结构吸盘大很多。为得到间隙工作空间磁场强度的分布规律,在忽略永磁体末端效应的假设条件下,建立其多次谐波方程,由此提出了该结构的履带吸盘的优化设计原则。并通过实际应用证明,该结构吸盘完全满足爬壁机器人爬行性能的要求。

关键词: 磁场强度, 多体磁化结构, 镜像模型, 履带吸盘

Abstract: A new structure of the wall-climbing robot’s tracked sucker, which is different from the normal, is designed based on multi-body magnetic structure. According to the tracked sucker’s working condition and the magnetization character of the rare earth magnet, a mirror model is obtained about the working air gap between the tracked sucker and the wall surface, a formula for calculating the magnetization in the y direction is established, it is proved that the magnetic force and the magnetization of the new tracked sucker is much larger than that of the normal. In order to reveal the distribution rule of the magnetization in the air gap, the permanent magnet’s tip-effect is neglected, and a multi-harmonic formula is established, upon which the optimization principle of the design of the tracked sucker is presented. It fulfils the requirement of the wall-climbing robot moving safely on the wall surface.

Key words: Magnetization, Mirror model, Multi-body magnetic structure, Tracked sucker

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