新型爬壁机器人磁吸附单元优化设计

doi:10.3969/j.issn.1000-1093.2012.12.022

兵工学报 ›› 2012, Vol. 33 ›› Issue (12): 1539-1544.doi: 10.3969/j.issn.1000-1093.2012.12.022

新型爬壁机器人磁吸附单元优化设计

陈勇，王昌明，包建东

(南京理工大学机械工程学院，江苏南京 210094)

收稿日期:2012-01-15 修回日期:2012-01-15 上线日期:2014-01-09
作者简介:陈勇（1982—），男，博士研究生

Optimization of a Novel Magnetic Adsorption Unit for Wallclimbing Robot

CHEN Yong， WANG Chang-ming， BAO Jian-dong

(School of Mechanical Engineering, Nanjing University of Science and Technology, Nanjing 210094, Jiangsu, China)

Received:2012-01-15 Revised:2012-01-15 Online:2014-01-09

摘要/Abstract

摘要： 为满足爬壁机器人负载能力和运动灵活性的要求，提出了一种新型变磁力吸附单元机构。首先介绍了机构的构型并建立了三维磁场模型，然后基于有限元方法对新型磁吸附单元的磁场进行了分析，得到了其磁感应强度分布和磁吸附力。运用ANSYS的APDL参数技术对吸附单元参数进行了优化，分析得出优化原则。通过与传统H形磁吸附机构性能参数仿真比较，表明新型结构具有永磁利用率高、最大最小吸附力比值大、自重轻而负载能力强的特点。实验验证了优化结果的准确性，为设计爬壁机器人磁吸附机构提供了依据。

关键词: 电磁学, 爬壁机器人, 磁吸附单元, 变磁力, Halbach阵列

Abstract: To satisfy the requirements on loading ability and manoeuvrability of the wallclimbing robot, a novel magnetic adsorption device with variable magnetic force was proposed. First, its configuration was introduced and threedimensional magnetic field models were established, then the magnetic field of novel magnetic adsorption unit based on finite element method was analyzed, and its magnetic flux density distribution and magnetic adsorption force were obtained. The APDL parametric technology of ANSYS was used to optimize the dimensions of magnetic unit, and optimization principle was obtained by analysis. By simulation and comparison of performance parameters of traditional Hshaped magnetic adsorption device, it is shown that the novel one has the characteristics of high utilization of permanent magnet, large ratio of the maximum and minimum adsorption force, light weight and strong loading ability. The result is proved by experiment and provides the basis for the design of wallclimbing robot magnetic adsorption device.

Key words: electromagnetics, wallclimbing robot, magnetic adsorption unit, variable magnetic force, Halbach array

中图分类号:

TP24

陈勇，王昌明，包建东. 新型爬壁机器人磁吸附单元优化设计[J]. 兵工学报, 2012, 33(12): 1539-1544.

CHEN Yong， WANG Chang-ming， BAO Jian-dong. Optimization of a Novel Magnetic Adsorption Unit for Wallclimbing Robot[J]. Acta Armamentarii, 2012, 33(12): 1539-1544.

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新型爬壁机器人磁吸附单元优化设计

Optimization of a Novel Magnetic Adsorption Unit for Wallclimbing Robot

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