爬壁机器人磁吸附模块设计分析与结构参数优化

杨培,张明路,孙凌宇

Design analysis and structural parameter optimization for magnetic adsorption module of wall-climbing robot

Pei YANG,Minglu ZHANG,Lingyu SUN

表2 构建磁力代理模型的部分样本点及对应的磁力仿真值

Table 2 Partial sample points and corresponding magnetic force simulation values for constructing magnetic force surrogate model

样本点 a/mm b/mm c/mm d/mm e/mm F（X）/N 1 5.354 21.48 29.89 21.45 13.26 128.570 2 5.990 22.94 28.44 12.91 14.46 69.073 3 8.889 7.42 36.22 21.64 18.24 87.366 4 8.040 15.18 36.11 14.55 7.93 65.284 5 10.727 22.70 35.89 28.55 13.43 272.450 6 6.838 27.55 33.33 26.73 11.71 213.010 7 7.192 16.64 35.78 17.27 20.81 142.230 8 9.030 5.73 34.67 16.55 11.37 37.808 9 8.747 24.39 28.67 12.73 8.96 49.399 10 8.323 20.52 31.22 21.09 7.59 109.780 11 11.222 20.27 36.78 16.73 9.65 107.380 12 6.273 21.97 34.22 26.36 4.50 137.260 13 11.364 20.03 26.56 15.09 12.57 66.402 14 5.424 25.12 33.11 15.64 18.58 135.950 15 11.010 8.15 27.44 24.73 7.76 66.603 16 8.182 13.48 26.78 13.09 12.23 42.979 17 6.131 13.97 36.56 19.82 13.09 126.730 18 6.768 5.97 29.56 14.36 16.35 28.872 19 10.020 5.24 31.56 23.45 12.91 50.487 20 11.646 19.79 32.67 14.18 17.38 99.943 … … … … … … … 79 11.717 21.73 27.00 24.55 12.74 141.920 80 5.636 24.88 35.44 19.09 8.96 124.080 81 6.414 12.27 26.11 20.00 15.49 77.611 82 11.434 10.58 30.00 22.55 19.27 104.780 83 11.505 22.45 31.67 14.73 8.45 67.949 84 5.707 6.70 33.89 16.36 8.28 39.014 85 10.444 8.88 36.67 23.64 9.82 105.650 86 5.283 13.24 27.56 25.45 9.31 88.687 87 8.465 17.85 26.00 25.27 10.17 113.340 88 9.242 17.12 34.44 21.27 13.94 153.140 89 11.788 17.85 34.11 24.18 7.42 147.230 90 11.929 9.36 34.56 18.73 15.83 84.310 91 11.152 11.30 34.89 27.64 17.21 172.770 92 9.455 9.85 32.44 15.82 20.30 69.653 93 5.212 17.36 32.89 14.00 11.54 71.916 94 10.798 19.06 28.89 26.18 5.02 119.520 95 11.293 11.79 33.78 12.00 9.99 42.234 96 9.525 5.48 29.44 15.45 8.79 24.149 97 7.051 5.00 35.22 24.91 11.88 58.269 98 10.869 14.45 30.56 28.91 12.06 167.910 99 11.081 10.09 29.33 12.36 15.32 40.109 100 6.980 24.64 26.67 18.91 19.61 126.210