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浙江大学学报(工学版)
浙江大学学报(工学版)  2018, Vol. 52 Issue (10): 1837-1844    DOI: 10.3785/j.issn.1008-973X.2018.10.001
机械与能源工程     
爬壁机器人磁吸附组件优化设计与试验研究
宋伟, 姜红建, 王滔, 高振飞, 杜镇韬, 朱世强
浙江大学 海洋电子与机器人研究所, 浙江 舟山 316021
Optimization design and experimental research on magnetic components for wall-climbing robot
SONG Wei, JIANG Hong-jian, WANG Tao, GAO Zhen-fei, DU Zhen-tao, ZHU Shi-qiang
Institute of Marine Electronics and Robotics, Zhejiang University, Zhoushan 316021, China
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摘要：

针对工业生产需求，以安全吸附和灵活行走为设计目标，提出可吸附在钢制结构物壁面作业的爬壁机器人.阐述爬壁机器人机械结构及相关的工作原理，分别论述磁吸附爬壁轮、清洗回收组件等子系统的结构原理；为了防止机器人发生滑移、倾覆，分析爬壁机器人不同的失稳形式，建立爬壁机器人的静力学模型，得到爬壁机器人抗失稳的磁吸附力；为了确保磁吸附组件的质量最小、磁吸附力最大，通过引入磁质比，分析结构参数对磁吸附组件性能的影响，得到最优的结构尺寸.通过实验获取磁吸附组件的吸力特性和爬壁机器人的负载、运动特性，验证磁吸附组件优化设计的可行性.
Abstract:

A wall-climbing robot which can be adsorbed on steel wall was proposed for industrial production needs in order to absorb safety and maneuverability. The mechanical structure and working principle of robot were described. The structures of magnetic wheels, cleaning and recycling components, which are the sub-systems of robot, were demonstrated respectively. Different forms of instabilities were analyzed to prevent the robot from slipping or overturning. Then the statics model of robot was established to obtain the magnetic adsorption force. The ratio of magnetic adsorption force to magnet mass of magnetic components was proposed in order to ensure that the mass of magnetic components is small and the magnetic adsorption force is great. Then the influence of parameters of the magnetic components on the magnetic adsorption force was deduced to get the optimal magnetic components. The performances of magnetic adsorption force of magnetic components load capacity and movement of wall-climbing robot were obtained. The design rationality of magnetic components was verified through experiments in the lab.
收稿日期: 2018-02-23 出版日期: 2018-10-11
CLC:  S972  
基金资助:

国家自然科学基金资助项目（61603332）；中央高校基本科研业务费专项资金资助项目（2017XZZX001-02A）；浙江省重点创新团队资助项目（2013TD14）；舟山市校科技合作专项资助项目（2017C8221）
通讯作者: 王滔,男,讲师.orcid.org/0000-0002-5121-0599.     E-mail: twang001@126.com
作者简介: 宋伟(1984-),男,博士,讲师,从事爬壁作业机器人的研究.orcid.org/0000-0002-0828-7486.E-mail:weisong@zju.edu.cn
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引用本文:

宋伟, 姜红建, 王滔, 高振飞, 杜镇韬, 朱世强. 爬壁机器人磁吸附组件优化设计与试验研究[J]. 浙江大学学报(工学版), 2018, 52(10): 1837-1844.

SONG Wei, JIANG Hong-jian, WANG Tao, GAO Zhen-fei, DU Zhen-tao, ZHU Shi-qiang. Optimization design and experimental research on magnetic components for wall-climbing robot. JOURNAL OF ZHEJIANG UNIVERSITY (ENGINEERING SCIENCE), 2018, 52(10): 1837-1844.

链接本文:

http://www.zjujournals.com/eng/CN/10.3785/j.issn.1008-973X.2018.10.001    或    http://www.zjujournals.com/eng/CN/Y2018/V52/I10/1837

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