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

表1 优化前后悬摆式吸附机构的结构参数和性能参数

Table 1 Structural and performance parameters of pendulous magnetic adsorption mechanism before and after optimization

优化前后	r /mm	α /(°)	H/mm	F_m/N	G_g /N	$λ$
优化前	25	35	6	104.16	2.15	-0.39
优化后	20	39.64	5.03	129.93	2.60	9.59
变量取整	20	40	5	130.75	2.63	9.79