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工程设计学报
Chin J Eng Design  2023, Vol. 30 Issue (3): 334-341    DOI: 10.3785/j.issn.1006-754X.2023.00.031
Robotic and Mechanism Design     
Design and optimization of pendulous magnetic adsorption mechanism for wall-climbing robots
Dong ZHANG(),Pei YANG(),Zhexuan HUANG,Lingyu SUN,Minglu ZHANG
School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, China
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Abstract  

In order to solve the problems of poor wall adaptability and low movement flexibility of wall-climbing robots, the shortcomings of the existing magnetic adsorption mechanism of wall-climbing robots were analyzed. Taking a wheeled wall-climbing robot as research object, a wall adaptive pendulous magnetic adsorption mechanism was designed based on the functional requirements of wall-climbing robots. A comparative analysis was conducted between the pendulous magnetic adsorption mechanism and the traditional magnetic adsorption wheel by Ansoft software. In order to further reduce the mass of the magnetic adsorption mechanism and improve its adsorption reliability, based on the goal of high magnetic energy utilization, SNLP (sequential non-linear programming) algorithm was used to optimize the structural parameters of the pendulous magnetic adsorption mechanism. After optimization, the adsorption force of the magnetic adsorption mechanism was increased by 25.52%. A prototype of pendulous magnetic adsorption wheel was developed and the adsorption force testing experiment and demagnetization experiment were conducted. Motion performance testing experiment was carried after installing the pendulous magnetic adsorption wheel on a wall-climbing robot to verify the rationality of the optimization results of the structural parameters of the magnetic adsorption mechanism and the practicality of the structural design. The research results provide a reference for improving the working performance of wall-climbing robots.

Key words： wall-climbing robot      pendulous magnetic adsorption mechanism      magnetic circuit simulation analysis      parameter optimization     
Received: 04 June 2022      Published: 06 July 2023
CLC:  TP 242.2  
Corresponding Authors: Pei YANG     E-mail: 2010078@hebut.edu.cn;yang_p1993@163.com
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Dong ZHANG
Pei YANG
Zhexuan HUANG
Lingyu SUN
Minglu ZHANG
Cite this article:

Dong ZHANG,Pei YANG,Zhexuan HUANG,Lingyu SUN,Minglu ZHANG. Design and optimization of pendulous magnetic adsorption mechanism for wall-climbing robots. Chin J Eng Design, 2023, 30(3): 334-341.

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https://www.zjujournals.com/gcsjxb/10.3785/j.issn.1006-754X.2023.00.031     OR     https://www.zjujournals.com/gcsjxb/Y2023/V30/I3/334


爬壁机器人悬摆式磁吸附机构的设计与优化

为了解决爬壁机器人壁面适应能力差、运动灵活性低等问题，分析了现有爬壁机器人磁吸附机构存在的不足，并以轮式爬壁机器人为研究对象，根据爬壁机器人的功能要求，设计了一种壁面自适应悬摆式磁吸附机构。通过Ansoft软件对悬摆式磁吸附机构和传统磁吸附轮进行了对比分析。为了进一步减小磁吸附机构的质量，同时提高其吸附可靠性，基于高磁能利用率的目标，采用SNLP（sequential non-linear programming，连续非线性规划）算法对悬摆式磁吸附机构的结构参数进行优化，优化后磁吸附机构的吸附力增大了25.52%。研制了悬摆式磁吸附车轮样机，开展了吸附力测试实验和卸磁实验，并将其安装在爬壁机器人上，开展了运动性能测试实验，验证了磁吸附机构结构参数优化结果的合理性和结构设计的实用性。研究结果为提高爬壁机器人的工作性能提供了参考。


关键词： 爬壁机器人,  悬摆式磁吸附机构,  磁路仿真分析,  参数优化 
Fig.1 Existing magnetic adsorption mechanism
Fig.2 Pendulous magnetic adsorption mechanism
Fig.3 Overall structure of wall-climbing robot
Fig.4 Structure of transmission mechanism of wall-climbing robot
Fig.5 Structure of pendulous magnetic adsorption mechanism
Fig.6 3D model of magnetic adsorption mechanism
Fig.7 Magnetic field distribution of magnetic adsorption mechanism
Fig.8 Variation of magnetic field strength along the radial direction of wheel of magnetic adsorption mechanism
Fig.9 Force in the vertical direction of wall-climbing robot
Fig.10 Schematic of structural parameters of pendulous magnetic adsorption mechanism
Fig.11 Finite element model of pendulous magnetic adsorption mechanism
Fig.12 Optimization process of structural parameters of pendulous magnetic adsorption mechanism
优化前后r /mmα /(°)H/mmFm/NGg /Nλ
优化前25356104.162.15-0.39
优化后2039.645.03129.932.609.59
变量取整20405130.752.639.79
Table 1 Structural and performance parameters of pendulous magnetic adsorption mechanism before and after optimization
Fig.13 Testing experiment site for the adsorption force of pendulous magnetic adsorption mechanism
Fig.14 Schematic of demagnetization operation for pendulous magnetic adsorption mechanism
Fig.15 Prototype and motion performance testing site of wall-climbing robot
Fig.16 Motion process of wall-climbing robot
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