变曲率立面自适应爬壁机器人结构的设计与分析

Design and Analysis on an Adaptive Wall-climbing Robot Structure for Variable Curvature Facade

  • 摘要: 针对爬壁机器人在变曲率壁面作业时稳定性差和自适应能力不足等问题, 设计了一种自适应模块与机身相对独立的分离式结构爬壁机器人, 并研究它在壁面上的移动性能。首先根据机器人的壁面运动原理建立力学模型, 计算无滑移和无倾覆时纵/横移动方向切换、沿壁面移动和越障所需的吸附力, 并分析在周向曲面和径向曲面上纵向移动和横向移动时机身姿态的变化情况。然后通过永磁体装置的磁路设计和参数化仿真, 分析气隙间距和壁面厚度对吸附力的影响, 对机器人在不同曲面和不同运动模式下的吸附力进行仿真, 优化永磁体的设计。最后通过实验验证了爬壁机器人在不同变曲率壁面上的移动性能和自适应性能。结果表明, 所设计的爬壁机器人具有纵/横切换移动灵活、吸附稳定、变曲率壁面自适应能力强的特点, 最小可适应曲率为0.46 m的壁面, 且在90°壁面可承载7.2 kg的设备。

     

    Abstract: To address issues such as weak stability and insufficient adaptability of wall-climbing robots working on variable curvature wall, a wall-climbing robot of separate structure that the adaptive module is relatively independent from the main body is designed, and its motion performance on walls is studied. Firstly, a mechanical model based on the movement principles of robot on a wall is established. The adsorption forces required for longitudinal/lateral direction switching, wall-climbing movement, and obstacle crossing without slipping or overturning are calculated. Additionally, the changes in the robot body posture during longitudinal and lateral movements on circumferential and radial curved surfaces are analyzed. Subsequently, the magnetic circuit design and parametric simulation of the permanent magnet device are performed to analyze the effects of air gap distance and wall thickness on the adsorption force. The adsorption forces of the robot on different curved surfaces and in various motion modes are simulated to optimize the design of the permanent magnet. Finally, experimental validation is performed to assess the climbing performance and adaptability of the climbing robot on variable curvature surfaces. The results show that the designed wall-climbing robot features flexible longitudinal/lateral switching movement, stable adsorption, and strong adaptability to variable curvature surfaces, with a minimum curvature adaptability of 0.46 m and the capability to carry 7.2 kg equipment on a 90° wall.

     

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