摘要
针对船舶爬壁机器人吸附力不可调的问题,采用电磁吸附方法,将电磁铁作为吸附装置吸附力来源,并非以往的只将电磁吸附作为辅助吸附,对爬壁机器人进行力学分析并据此设计电磁铁,根据应力张量法建立永磁铁和电磁铁的有限元仿真模型,对比二者的磁力-间距变化情况,结果表明,所设计的电磁铁可以满足安全吸附要求且比永磁铁吸附力稍大;电磁吸附爬壁机器人可根据不同工况调整吸附力大小以适应工作需求。
In view of the problem that the adsorption force of the ship’s wall-climbing robot is not adjustable,the electromagnetic adsorption method was introduced.The entire adsorption device used electromagnets as the source of the adsorption force,instead of only using electromagnetic adsorption as an auxiliary adsorption in the past.The mechanical analysis of the wall-climbing robot was carried out and the electromagnet was designed accordingly.The finite element model of the permanent magnet and the electromagnet was established to compare the changes of magnetic force-spacing between them.The results showed that the designed electromagnet can meet the requirements of safe adsorption and the adsorption force is slightly larger than that of permanent magnet;and the electromagnetic adsorption wall-climbing robot can adjust the adsorption force according to different working conditions.
作者
韩力春
王黎明
闫晓玲
HAN Li-chun;WANG Li-ming;YAN Xiao-ling(College of Electrical Engineering,Naval Engineering University,Wuhan 430033,China)
出处
《船海工程》
北大核心
2022年第5期102-107,112,共7页
Ship & Ocean Engineering
基金
国家自然科学基金(41771487)。
关键词
电磁吸附
爬壁机器人
力学分析
应力张量法
有限元
electromagnetic adsorption
wall-climbing robot
mechanical analysis
stress tensor method
finite element method
