磁吸附履带式攀爬钢缆机器人的分析与研究

发布时间：2018-03-08 22:33

本文选题：缆索攀爬机器人　切入点：磁吸附　出处：《北京交通大学》2017年硕士论文　论文类型：学位论文

【摘要】：攀爬机器人用于代替人类完成各种危险的工作而成为当今机器人领域的研究热点之一。这类机器人可以搭载所需要的设备在管道或钢缆上面进行运动,协助工作人员完成检测、维护等工作,具有广阔市场应用前景,研究和探索新型的攀爬钢缆、管道类机器人具有重要意义。本文首先分析了关于攀爬机器人的国内外研究的最新进展,提出一种磁吸附履带式攀爬钢缆机器人的新型驱动方案。然后利用三维建模软件完成了对爬缆机器人的详细机械结构设计。使用ANSYS Workbench分析软件对关键零部件进行了静态结构强度分析,校核了关键零部件的结构强度。接下来重点研究了磁吸附履带的关键技术——永磁履带板的磁场特性和吸附能力对其进行了深入的理论分析与研究,设计了三种磁极布置方案的永磁履带板,推导相应的理论公式,分析计算永磁履带板的磁感应强度和磁力大小。同时,借助ANSYS Workbench软件中有限元电磁分析平台对不同磁极布置方案进行磁场仿真分析,得出最佳磁极布置方案。本研究还对定制的永磁履带板样品进行磁感应强度和磁力的测量实验,并通过测量结果验证了永磁履带板的磁场理论分析以及磁场有限元分析的正确性和可行性。与实际测量实验数据对比得到其他两种计算磁力的方法与真实值的误差,验证了永磁履带板内磁场分布具有边角集中效应的规律。最后,对不同位姿状态下机器人的单侧和双侧机构进行力学分析,研究机器人各种可能的倾覆形式,通过其动态力学分析得到所需的驱动力矩,并在ADAMS软件中建立机器人的虚拟样机模型,对其进行运动仿真分析,分析虚拟样机运动情况。对支架和履带进行模态分析,得出支架、履带机构的固有频率和振型,为避免机构共振的发生和日后的结构优化工作提供了参考。为制作样机实验奠定基础。本文工作对于磁吸附攀爬机器人的后继研究和发展提供参考和设计基础。
[Abstract]:Climbing robots have become one of the hotspots in the field of robots, which are used to replace human beings in all kinds of dangerous work. Such robots can carry the equipment they need to move on pipes or steel cables to assist workers in completing the testing. Maintenance and other work, has a broad market application prospects, research and exploration of new climbing cables, pipeline robots have important significance. This paper first analyzes the latest progress in the research of climbing robots at home and abroad. In this paper, a new drive scheme of magnetically adsorbed crawler climbing cable robot is proposed. Then, the detailed mechanical structure design of climbing cable robot is completed by using 3D modeling software. The key parts are analyzed by ANSYS Workbench software. Static structural strength analysis, The structural strength of the key parts is checked. Then, the magnetic field characteristics and the adsorption ability of the permanent magnet track board, the key technology of the magnetic adsorption track, are studied in detail. In this paper, the permanent magnet track plate with three kinds of magnetic pole arrangement schemes is designed, the corresponding theoretical formulas are deduced, and the magnetic induction intensity and magnetic force of the permanent magnet track plate are analyzed and calculated. By using the finite element electromagnetic analysis platform of ANSYS Workbench software, the magnetic field simulation analysis of different magnetic pole layout schemes is carried out, and the optimal magnetic pole layout scheme is obtained. The magnetic induction intensity and magnetic force of the customized permanent magnet track plate samples are also measured. The correctness and feasibility of magnetic field theory analysis and magnetic field finite element analysis of permanent magnet track plate are verified by the measurement results. Compared with the experimental data of actual measurement, the errors of other two methods for calculating magnetic force and the real value are obtained. The distribution of magnetic field in the permanent magnet track plate is verified to have the law of side angle concentration effect. Finally, the mechanical analysis of the single and double side mechanism of the robot under different position and pose state is carried out, and various possible overturning forms of the robot are studied. Through the dynamic mechanical analysis, the required driving torque is obtained, and the virtual prototype model of the robot is established in ADAMS software. The motion simulation analysis of the virtual prototype is carried out, the motion of the virtual prototype is analyzed, and the modal analysis of the bracket and track is carried out. The natural frequencies and modes of the bracket and crawler mechanism are obtained. It provides a reference for avoiding the resonance of the mechanism and optimizing the structure in the future, and lays a foundation for the prototype experiment. The work in this paper provides a reference and design basis for the subsequent research and development of the magnetically adsorbed climbing robot.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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