摘要
传统的磁吸附爬壁机器人通常采用集成设计方法,以部件为主进行优化设计,没有提升爬壁机器人的整体轻量化程度。为进一步轻量节能,提出了基于磁力密度曲线的磁吸附爬壁机器人统一优化设计方法。对磁吸爬壁机器人建立了多学科的统一描述,在此基础上,建立了统一优化方法,包括磁吸附力密度和驱动力矩密度优化;基于最优磁吸附力密度与驱动力矩密度曲线,迭代得出最优磁吸附爬壁机器人结构参数,通过算例验证了设计方法的有效性。通过统一优化方法的迭代计算,可以快速计算出机器人的设计变量参数,在全局轻量优化磁吸附爬壁机器人。
The traditional magnetic adsorption wall-climbing robot usually adopts the integrated design method to optimize the design mainly by components,without improving the overall lightweight degree of the wall-climbing robot.In order to further save energy and weight,a unified optimization design method of magnetic adsorption wall-climbing robot based on magnetic-force density curve is proposed.A multidisciplinary unified description of the magnetic adsorption wall-climbing robot is established,on this basis,a unified optimization method is built,including the optimization of magnetic adsorption force density and drivetrain torque density.Based on the curves of the optimal magnetic adsorption force density and drivetrain torque density,the optimal structural parameters of the magnetic adsorption wall-climbing robot can be iterated,and an example is given to verify the effectiveness of the proposed method.Through the iterative calculation of the unified optimization process,the design variable parameters of the robot can be obtained quickly,and the lightweight optimization of the magnetic adsorption wall-climbing robot can be achieved in global.
作者
尹海斌
张罕
曹建国
YIN Haibin;ZHANG Han;CAO Jianguo(Hubei Key Laboratory of Digital Manufacturing,Wuhan 430070,China;School of Mechanical and Electrical Engineering,Wuhan University of Technology,Wuhan 430070,China;Shunde Graduate School,University of Science and Technology Beijing,Foshan 528399,China;Institute of Artificial Intelligence,University of Science and Technology Beijing,Beijing 100083,China;School of Mechanical Engineering,University of Science and Technology Beijing,Beijing 100083,China)
出处
《重庆理工大学学报（自然科学）》
CAS
北大核心
2022年第5期99-108,共10页
Journal of Chongqing University of Technology：Natural Science
基金
国家自然科学基金重大研究计划项目“共融机器人”培育项目(91848102)
北京科技大学顺德研究生院科技创新专项(BK19AE006)。
关键词
爬壁机器人
磁吸附
磁力密度
轻量化
统一优化
wall-climbing robot
magnetic adsorption
magnetic-density
lightweight design
unified optimization
