风电塔筒用变曲率自适应爬壁机器人运动特性分析与磁吸附模块优化

李享,李科,张明路,高春艳,李满宏

Motion characteristics analysis and magnetic adsorption module optimization of variable curvature adaptive wall-climbing robot for wind power tower

Xiang LI,Ke LI,Minglu ZHANG,Chunyan GAO,Manhong LI

图14

α_{1}^{'} — R — h_{2}

关系曲面

Fig.14 Relationship surface of

α_{1}^{'}

R

h_{2}