新型除锈爬壁机器人附壁建模与仿真

设计了1种永磁真空混合附壁的船舶壁面除锈爬壁机器人,该机器人负载大、本体重,机器人的附壁面法向存在水射流反冲力和真空负压压力.建立了机器人下滑和后翻两静态模型,结合船壁面法向的3种受力状态,分别对下滑模型和后翻模型进行了分析,并将两模型永磁单元所需吸附力进行了对比.仿真和实验结果表明,真空负压提高机器人附壁能力明显,可以较大地降低永磁吸附单元所需吸附力,减小机器人负载,较低的真空负压可实现辅助永磁良好附壁,在保证灵活运动的前提下吸附可靠.

Wall-attachment Model Building and Simulation on

A permanent magnetic and vacuum mixed adsorption wall-climbing robot for ship rust removal is designed, which has the characteristics as big loading and weight robot body, and there is water jet kick and vacuum negative pressure force in normal direction of wall surface. The static models for glide and tip back are established. According to the three forced states in normal direction of wall surface, the glide and the tip back models are analyzed, and the forced state of permanent magnetic unit between glide and tip back are compared. Simulation and experimental results show that the vacuum negative pressure force improves the adsorption capacity obviously, the permanent magnetic and vacuum mixed adsorption may reduce the adsorption force greatly, and in the robot normal work, the robot can attach the wall in low vacuum negative pressure.