爬壁机器人悬摆式磁吸附机构的设计与优化

张栋,杨培,黄哲轩,孙凌宇,张明路

Design and optimization of pendulous magnetic adsorption mechanism for wall-climbing robots

Dong ZHANG,Pei YANG,Zhexuan HUANG,Lingyu SUN,Minglu ZHANG

图9 爬壁机器人在竖直方向的受力

Fig.9 Force in the vertical direction of wall-climbing robot