基于Halbach阵列爬壁机器人磁吸附单元的优化设计

针对爬壁机器人磁吸附单元磁能利用率低的问题,通过对Halbach永磁阵列结构参数的研究分析,建立了磁吸附单元的优化设计目标(最大吸附力与吸附单元质量比)和约束条件。基于实验数据验证了有限元模型和方法,结合Isight软件和仿真分析进行了磁吸附单元的优化。结果表明,Halbach永磁阵列中,水平磁化永磁体主要起引导磁力线的作用,垂直磁化永磁体产生通过壁面的垂直磁力线,形成磁吸附力;磁吸附单元优化后的最大吸附力与吸附单元重量比可达1 156,磁能利用率大幅度提高。

Optimized Design of Magnetic Adsorption Unit for Wall-Climbing Robots Based on Halbach Array

Aiming at magnetic adsorption unit for wall-climbing robots low utilization of magnetic energy,the paper studied the structural parameters of Halbach permanent magnet array.An optimization goal （ratio of the maximum adsorption frce and adsorption unit weight） and constraints of the magnetic adsorption unit were established.The finite element models and methods was verified by based on experimental data.The magnetic adsorption unit was optimized by combining Isight software and finite element analysis.The simulation results show：in the Halbach permanent magnet array,the horizontally magnetized permanent magnet mainly guides the magnetic field lines,the perpendicular magnetized permanent magnet mainly produces the magnetic field lines which go through the wall and form a magnetic adsorption force; the ratio of the maximum adsorption force and adsorption unit weight is up to 1156,the magnetic energy efficiency greatly improved.