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

表4 磁吸附模块优化结果

Table 4 Optimization results of magnetic adsorption module

参数 优化前 优化后 φ1/° 11 8 φ2/° 11 16 φ3/° 11 10 φ4/° 11 6 h/mm 28 26 d/mm 105 105 t/mm 5 6 Fm/N 1 796.2 1 833.6 η/N/kg 350.7 403.9