推力吸附爬壁机器人的优化设计与试验

薛朝军,王海波,陈俞鹏

Optimal design and experimental study of thrust adsorption wall-climbing robot

Chao-jun XUE,Hai-bo WANG,Yu-peng CHEN

表 9 下层板的直接优化结果

Tab.9 direct optimization results of lower plate

方案 P 4/mm P 5/mm P 6/mm P 7/mm P 8/mm d/mm f/Hz m/g 1 2.80 68.56 20.00 78.56 15.09 0.60 220.27 235.30 2 2.97 69.04 20.43 71.83 11.98 0.57 235.89 241.96 3 2.93 63.58 22.14 61.93 24.35 0.57 222.89 260.73 4 2.81 75.57 20.86 80.09 18.34 0.51 232.28 258.07 5 3.02 75.14 21.06 65.17 13.74 0.52 258.75 259.66 初始值 3.00 76.00 21.00 114.00 25.50 0.33 220.05 315.39