摘要
针对搭载高压水射流装置的履带式爬壁机器人附壁稳定性问题,结合设计的爬壁机器人的结构特点,建立了爬壁机器人吸附在船舶壁面时的运动学模型,分析并求解了影响爬壁机器人附壁性能的各个因素,并对其磁吸附单元进行设计,分析磁吸附单元在N-S充磁和Halbach充磁方向时磁力与间隙关系。借助拉伸试验机对永磁吸附单元进行试验,验证了磁吸附单元的可靠性。并对搭建的功能性样机,开展室内水平行走、垂直爬壁和1∶1实船模型爬壁试验,验证了分析结果的正确性,为履带式爬壁机器人进一步结构优化设计和动力学分析提供了基础。
To improve the wall attachment stability of a crawler wall-climbing robot equipped with high-pressure water jet devices and the structural characteristics of the designed wall-climbing robot,the kinematic model of a wall-climbing robot adsorbing on the ship wall is established.The factors affecting the wall attachment performance of the wall-climbing robot are analyzed and solved.Its magnetic adsorption unit is designed,and the relationship between the magnetic force and gap of the magnetic adsorption unit in the N-S magnetization and the Halbach magnetization direction is analyzed.With the help of the tensile testing machine,the reliability of the permanent magnetic adsorption unit is tested and verified.For the functional prototype,tests of indoor horizontal walking and vertical wall climbing of a 1∶1 real ship model are carried out to verify the correctness of the analysis results,thus paving the way for the further structural optimization design and dynamic analysis of the crawler wall-climbing robot.
作者
赵飞
ZHAO Fei(School of Electrical and Information,Zhenjiang College,Zhenjiang 212028,Jiangsu,China)
出处
《机械科学与技术》
CSCD
北大核心
2024年第5期837-843,共7页
Mechanical Science and Technology for Aerospace Engineering
基金
工信部高技术船舶科研项目(MC-202031-Z07)
镇江市产业前瞻与共性关键技术项目(GY2020009,GY2021002)。
