关键词: Halbach磁阵列, 爬壁机器人, 吸附模块优化, 有限元模拟, 响应面法

Abstract: In order to improve the magnetic adsorption efficiency and uniform magnetic field distribution in the limited installation space of wall-climbing robots, a Halbach-based rectangular closed-loop magnetic array adsorption module and parameter optimization method are proposed, which improves the magnetic force attenuation and leakage caused by the end effect of the linear classical Halbach magnetic array adsorption module, and has the characteristics of easy installation and uniform magnetic force distribution. The structural configuration with high adsorption efficiency is determined by establishing a magnetic force attenuation model considering the end effect, and using simulation to study the influence of magnetic circuit structure changes on magnetic field distribution and gradient. The key structural dimensional parameters are extracted and integrated, and a nonlinear regression prediction model is established using the random uniform sampling strategy and the response surface method, and the structural parameters are optimized by the particle swarm algorithm to obtain the optimal combination of magnetic adsorption force parameters. The results show that: the constructed prediction model exhibits high credibility and accuracy, and its average relative error is only 1.5184%; the optimized design of the rectangular closed-loop magnetic array adsorption module increases its magnetic performance by 33.54%. In order to verify the effectiveness of the optimization process, the tensile force experiment of the magnetic adsorption module and the robot's motion over obstacle test were conducted, and the performance was good in curved surfaces and wall environments containing weld obstacles.

Key words: Halbach magnetic array, wall-climbing robot, adsorption module optimization, finite element simulation, response surface methodology