张俊强, 张华, 万伟民. 履带式爬壁机器人磁吸附单元的磁场及运动分析[J]. 机器人, 2006, 28(2): 219-223..
ZHANG Jun-qiang, ZHANG Hua, WAN Wei-min. Field and Motion Analysis on the Magnetic Unit of Tracked Wall-Climbing Robot. ROBOT, 2006, 28(2): 219-223..
Abstract：This paper introduces the structure and the working principle of a magnetic unit used on tracked wall-climbing robot.An FEM(finite element method) numerical model of the single unit is developed,and the magnetic field results under different working conditions are solved by ANSYS software.Through a series of measurements on the output torque of the driving motor,we present a planar force equation of the track,which provides a base for the dynamics and the kinematics of the robot.
