永磁吸附履带式爬壁机器人转向动力特性分析

发布时间：2018-05-11 21:04

本文选题：转向中心偏移 + 爬壁机器人　；参考：《机械设计》2017年02期

【摘要】：针对永磁吸附履带式爬壁机器人壁面转向过程中转向中心偏移问题,根据该类型爬壁机器人的结构特点,结合履带车辆转向理论,对爬壁机器人壁面转向条件进行分析,建立其转向动力学模型。通过实例计算,得到了爬壁机器人转向中心偏移量和所需驱动力的变化规律,分析了转向中心偏移对转向动力学模型的影响,以及载荷分散机构、磁吸附单元间隙对转向过程的影响。结果表明,转向动力学模型中忽略转向中心偏移会导致转向所需驱动力的计算结果偏大;载荷分散机构对机器人的转向影响很小,但可以改善壁面法向载荷分布;减小磁吸附单元间隙,有利于爬壁机器人的壁面转向。该分析结果为永磁吸附履带式爬壁机器人的设计和优化提供了基础。
[Abstract]:Aiming at the problem of steering center deviation in the course of wall steering of permanent magnet crawler climbing robot, according to the structural characteristics of this type of climbing robot, combined with the steering theory of tracked vehicle, the condition of wall steering of wall climbing robot is analyzed. The dynamic model of steering is established. The variation law of steering center offset and required driving force of wall-climbing robot is obtained by example calculation. The influence of steering center shift on steering dynamic model and load dispersion mechanism are analyzed. The effect of the gap of magnetic adsorption unit on the steering process. The results show that neglecting the steering center shift in the steering dynamics model will result in a larger calculation result of the required driving force, and the load dispersion mechanism will have little effect on the steering of the robot, but it can improve the normal load distribution on the wall. Reducing the gap between the magnetic adsorption units is beneficial to the wall steering of the wall climbing robot. The results provide a basis for the design and optimization of permanent magnet crawler climbing robot.
【作者单位】：南昌大学江西省机器人与焊接自动化重点实验室;
【基金】：国家“863”科技计划资助项目(2013AA041003) 江西省研究生创新专项资金项目(YC2015-B001)
【分类号】：TP242

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