基于Halbach阵列的爬壁机器人磁轮特性研究
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摘要
针对磁吸附式爬壁机器人存在负载能力差、稳定性不高等缺点,课题组提出了一种基于Halbach阵列的磁轮吸附式爬壁清洁机器人,用于壁面清扫。采用修正的傅立叶级数形式推导出Halbach永磁阵列磁场解析模型;通过ANSYS仿真得出了磁轮磁通分布模型。随后进行了磁吸附力试验,结果表明:Halbach阵列与普通对向极磁环对比,Halbach阵列的吸附距离对其吸附力的影响较弱;同时,其吸附力是普通对向极磁环吸附力的2倍多。Halbach阵列的磁轮吸附方法可提升机器人爬行负载能力及稳定性。
Aiming at problems of poor load capacity and low stability of magnetic adsorption wall-climbing robot,a wallclimbing robot based on Halbach array magnet-wheel was presented for cleaning process to converter valve box.Calculation model of Halbach array magnet-wheel was obtained by modified Fourier series. Magnetic flow distribution model of magnetic wheel was shown by ANSYS simulation. The magnetic adsorption force test was carried out subsequently. Experimental results showed that the adsorption distance of Halbach array had a weak influence on its adsorption force comparing with that of normal magnet-wheel; which the magnetic absorbability of Halbach array magnetwheel was more than twice that of normal magnet-wheel. This design could improve the load capacity and stability of wall-climbing robot.
Aiming at problems of poor load capacity and low stability of magnetic adsorption wall-climbing robot,a wallclimbing robot based on Halbach array magnet-wheel was presented for cleaning process to converter valve box.Calculation model of Halbach array magnet-wheel was obtained by modified Fourier series. Magnetic flow distribution model of magnetic wheel was shown by ANSYS simulation. The magnetic adsorption force test was carried out subsequently. Experimental results showed that the adsorption distance of Halbach array had a weak influence on its adsorption force comparing with that of normal magnet-wheel; which the magnetic absorbability of Halbach array magnetwheel was more than twice that of normal magnet-wheel. This design could improve the load capacity and stability of wall-climbing robot.
引文
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[7]周赣,黄学良,沈妍,等.Halbach型永磁阵列的磁场分析[J].微特电机,2008,36(7):1-3.
[8]周赣,黄学良,周勤博,等.Halbach型永磁阵列的应用综述[J].微特电机,2008,36(8):52-55.
[9]李耕,乔鸣忠,梁京辉,等.Halbach结构永磁电机优化设计[J].电机与控制应用,2012,39(1):6-10.
[10]宋玉晶,张鸣,朱煜.Halbach永磁阵列磁场解析求解及推力建模[J].电工技术学报,2014,29(11):61-67.
[11]KIM W J.High-precision planar magnetic levitation[D].Cambridge,Boston,Massachusetts:Massachusetts Institute of Technology,1998:6730.
[2]韩猛,赵峰,桑迪,等.一种核管道机器人结构设计与驱动力分析[J].机电工程,2017,34(7):696-701.
[3]HIROSE S,TSUTSUMITAKE H.Disk rover:a wall-climbing robot using permanent[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems.Raleigh,NC,USA:IEEE,1992:2074-2079.
[4]GRIECO J C,PRIETO M,ARMADA M,et al.A six-legged climbing robot for high payloads[C]//IEEE International Conference on Control Applications.Trieste,Italy:IEEE,1998:446-450.
[5]ARMADA M.Telepresence and intelligent control for a legged locomotion robot[J].Expert Systems and Robotics,1991,71:377-396.
[6]FAINA A,SOUTO D,DEIBE A,et al.Development of a climbing robot for grit blasting operations in shipyards[C]//IEEE International Conference on Robotics and Automation.Kobe,Japan:IEEE,2009:200-205.
[7]周赣,黄学良,沈妍,等.Halbach型永磁阵列的磁场分析[J].微特电机,2008,36(7):1-3.
[8]周赣,黄学良,周勤博,等.Halbach型永磁阵列的应用综述[J].微特电机,2008,36(8):52-55.
[9]李耕,乔鸣忠,梁京辉,等.Halbach结构永磁电机优化设计[J].电机与控制应用,2012,39(1):6-10.
[10]宋玉晶,张鸣,朱煜.Halbach永磁阵列磁场解析求解及推力建模[J].电工技术学报,2014,29(11):61-67.
[11]KIM W J.High-precision planar magnetic levitation[D].Cambridge,Boston,Massachusetts:Massachusetts Institute of Technology,1998:6730.