摘要
针对爬壁机器人现有吸附方式的不足,提出一种电极吸附的新方法。对电极吸附技术的吸附机理进行分析,并根据爬壁机器人的应用特点,提出电极阵列式吸附结构——共面梳状交叉电极阵列。针对该阵列结构,基于有限元分析方法,构建吸附力输出模型,并结合量子粒子群优化算法,以电极吸附阵列吸附力输出的最大化为目标,对电极阵列布局的参数进行优化设计;在对电极阵列吸附力分布特性、击穿特性等性能进行分析的基础上,提出电极阵列结构优化设计方案,并采用MEMS技术,设计出了试验样版。为了验证电极吸附方法的有效性和所建模型的正确性,分别基于不同的材料基底(水泥墙、玻璃和木材),进行吸附力测试试验,并基于电极吸附技术,设计单履带式攀爬机器人。试验数据及攀爬机器人的实际运行效果表明了电极吸附技术的有效性和先进性。
A novel electro-adhesion technology is presented for deficiency of existing adhesion methods. The mechanism of electro-adhesion is analyzed and the structure of planar combed interdigitated electrode array for climbing robots usage is presented based on the characteristics of climbing robot usage. With regard to the presented structure, the adhesion force output model is constructed with finite element analysis tool. The quantum particle swarm algorithm （QPSO） is used to optimize the parameters of the adhesion array for the maximal adhesion force output. The shape of electrode is also designed with regard to the force layout and dielectric characteristics of the whole array. With MEMS tech, a testing sample is designed and generated. In order to validate the effectiveness of electro-adhesion method, experiments were performed based on different substrates （concrete wall, glass and wood） and a single tracked climbing robot based on electro-adhesion caterpillar is designed. Experimental data and performance of the designed robot indicate effectiveness and advantage of the depicted method which can provide stable and robust adhesion foe climbing robot.
出处
《机械工程学报》
EI
CAS
CSCD
北大核心
2015年第9期51-57,共7页
Journal of Mechanical Engineering
基金
国家自然科学联合基金(U1304508)
河南省高校青年骨干教师支持计划(教高[2012]626号)资助项目
关键词
爬壁机器人
电极吸附
交叉电极
有限元分析
模型构建
climbing robot
electro-adhesion
interdigitated electrode
finite element analysis
model construction
