磁吸附系统的磁力仿真计算与测试
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摘要
针对擦窗机器人的吸附问题,设计了用于擦窗机器人的双面磁吸附系统中的磁路,应用ANSYS软件对磁路进行了建模、仿真和磁力计算,得出了磁路的磁感线分布规律及吸附磁力,并进行了磁力测试,结果表明,ANSYS数值算法得到的吸附磁力大小与其测量值的误差较小。通过MATLAB软件对磁体间相对距离与吸附磁力的仿真值、测量值的关系进行了曲线拟合,结果表明,随着磁体间相对距离的增大,吸附磁力的仿真值与测量值均逐渐减小,仿真值与测量值的变化规律大致相同。该吸附系统可用于一定厚度范围的玻璃,且可通过改变磁体间相对距离来调整吸附磁力。
Aimed at the adsorption problems of window cleaning robots,the magnetic circuit of a two-sided magnetic adsorption system used in window cleaning robots was designed.The magnetic circuit was modeled and simulated,and also the magnetic force was calculated by ANSYS software,the distribution law of magnetic flux lines and magnetic adsorption magnetism were obtained and magnetic force was tested.The testing results showed that the error between the measured force and the force calculated from the ANSYS numerical algorithm was small.MATLAB software was used to do the curve-fitting for the relationship between the relative distance and the measured value and the value calculated from the ANSYS numerical algorithm.The fitting results showed that when the relative distance between the magnets increased,the adsorptive magnetic force measured and the force calculated from the ANSYS numerical algorithm decreased,the simulated value and the measured value were roughly the same.The adsorption system can be used for the glass with a certain thickness range and it can adjust adsorption force by changing the relative distance between magnets.
Aimed at the adsorption problems of window cleaning robots,the magnetic circuit of a two-sided magnetic adsorption system used in window cleaning robots was designed.The magnetic circuit was modeled and simulated,and also the magnetic force was calculated by ANSYS software,the distribution law of magnetic flux lines and magnetic adsorption magnetism were obtained and magnetic force was tested.The testing results showed that the error between the measured force and the force calculated from the ANSYS numerical algorithm was small.MATLAB software was used to do the curve-fitting for the relationship between the relative distance and the measured value and the value calculated from the ANSYS numerical algorithm.The fitting results showed that when the relative distance between the magnets increased,the adsorptive magnetic force measured and the force calculated from the ANSYS numerical algorithm decreased,the simulated value and the measured value were roughly the same.The adsorption system can be used for the glass with a certain thickness range and it can adjust adsorption force by changing the relative distance between magnets.
引文
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[3]桂仲成,陈强,孙振国.多体柔性永磁吸附爬壁机器人[J].机械工程学报,2008(6):177-182.
[4]桂仲成,陈强,孙振国,等.爬壁机器人的轮式移动机构的转向功耗[J].清华大学学报:自然科学版,2008(2):161-168.
[5]张红松,胡仁喜.电磁学有限元分析从入门到精通[M].北京:机械工业出版社,2013.
[6]贾长治,李志尊.ANSYS 17.0有限元分析完全自学手册[M].北京:机械工业出版社,2017.
[7]陈东军.一种带有反馈随动机构的霍尔位移传感器研究[D].厦门:厦门大学,2001.
[8]黄明.线性霍尔传感器在直线位移中的应用[J].自动化仪表,2010,31(3):66-71.
[9]陈勇,王昌明.Halbach型永磁吸附机构的有限元分析与优化[J].高技术通讯,2013,23(5):484-490.
[10]陈勇,王昌明,包建东.新型爬壁机器人磁吸附单元优化设计[J].兵工学报,2012,33(12):1540-1544.