爬壁机器人磁轮特性研究及其运动仿真

为降低石油储罐检测的人力成本并提高石油储罐检测的自动化程度,设计了永磁吸附轮式爬壁机器人,并使用Maxwell软件对普通径向充磁磁轮(磁轮1)和两种基于Halbach阵列的磁轮(磁轮2和磁轮3)在不同转角下吸附力的变化情况进行仿真计算。计算结果表明:磁轮3吸附力随转角变化最为稳定;磁轮3的吸附力在磁隙0.2 mm时达到最大,随后吸附力随磁隙的增加而下降,但下降速度逐渐减小,当磁隙为1.0 mm时,磁轮吸附力为171 N。由Adams仿真结果可知:增加万向磁轮前机器人在爬越半径为4 mm的焊缝时机身发生微小偏移,在爬越8 mm焊缝时发生明显偏移;在1.5 s的仿真时间内,增加万向磁轮前机器人质心沿X轴方向最大偏移量为8.13 mm,增加万向磁轮后降为0.07 mm。研究结果为后续物理样机的研制奠定了理论基础。

Characteristic Study and Motion Simulation of the Magnetic Wheels on Wall-Climbing Robot

To reduce the labor cost and improve the automation degree of oil storage tank detection,a permanent magnet adsorption wheel type wall climbing robot for non-destructive testing of oil storage tank wall surface was designed.Maxwell software was used for simulation of the change of the adsorption force at different rotation angles of the traditional radial magnetizing wheel(magnet wheel 1)and the two Halbach array-based magnetic wheels(magnetic wheel 2 and magnetic wheel 3).The calculation results show that the adsorption force of the magnetic wheel 3 is the most stable with the change of the rotation angle.The adsorption force of the magnetic wheel 3 reaches the maximum when the magnetic gap is 0.2 mm,and then decreases with the increase of the magnetic gap with gradual descending speed.When the gap is 1.0 mm,the magnetic wheel has an adsorption force of 171 N.According to the simulation results of Adams,the robot without the universal magnetic wheel has a slight deviation when climbing the weld with a radius of 4 mm,and has a significant deviation when climbing the 8 mm weld.During the simulation time of 1.5 s,the maximum offset of the mass center of the robot in the X-axis direction is 8.13 mm before adding the universal magnetic wheel,and is reduced to 0.07 mm after adding the universal magnetic wheel.The research results laid a theoretical foundation for the development of subsequent prototypes.