摘要
分析了国内外爬壁机器人的研究现状,结合机器人工作环境与需求,讨论了不同结构方案的优缺点,针对机器人运动灵活性、吸附稳定性、变曲率适应性等问题,设计了爬壁机器人的机械结构,利用SolidWorks软件建立爬壁机器人虚拟样机,并对其进行运动分析。研究了磁场的静态分布规律,利用Ansoft Maxwell软件对磁力进行了仿真,优化了永磁吸附模块参数。利用Ansys Workbench软件对机器人结构中关键零部件进行有限元分析,验证机器人结构设计的可靠性。
The research situation of wall climbing robot at home and abroad is analyzed in this article. Combined with the working environment and requirements of the robot, the advantages and disadvantages of different structural schemes are discussed. Aiming at the problems of robot motion flexibility, adsorption stability, variability curvature adaptability and so on, the mechanical structure of the wall climbing robot is designed, and the virtual prototype of the wall climbing robot is established by using the SolidWorks software, then its motion is analyzed. The static distribution law of the magnetic field is studied, the magnetic force is simulated by using the Ansoft Maxwell software, and the parameters of the permanent magnet adsorption module are optimized. The finite element analysis of the key components in the robot structure is carried out by using the Ansys Workbench software to verify the reliability of the robot structural design.
作者
钱程
杨振
时德伟
QIAN Cheng;YANG Zhen;SHI De-wei(School of Mechanical Engineering and Automation,Dalian Polytechnic University,Dalian Liaoning 116034,China;School of Mechanical Engineering,Tianjin University,Tianjin 300354,China)
出处
《机械研究与应用》
2022年第6期32-37,共6页
Mechanical Research & Application
基金
大连市高层次人才创新支持计划-大连市青年科技之星项目:大型曲面近净成形关键技术研究(编号:2020RQ106)。
关键词
爬壁机器人
运动分析
磁力仿真
有限元分析
wall climbing robot
motion analysis
magnetic force simulation
finite element analysis
