爬壁机器人力学分析与实验研究

目的：由于控制负压吸附爬壁机器人的负压差对机器人安全、运动性能、机械设计的参数选择和机器人系统的功率控制有着极为紧密的关系，对机器人的负压吸附动力学过程进行了深入的分析。方法：运用键图理论建立了爬壁机器人负压吸附动力学过程模型并对其进行了仿真分析。文章首先针对爬壁机器人的特点，对负压吸附系统的技术要求进行了详细分析，利用计算流体力学方法设计了新型的负压吸附系统；在对负压吸附系统进行合理的假设和流体力学分析的基础上，运用键图理论针对不同物理域具有参数等效的特点，把负压吸附流体系统参数等效为机械动力学中的力、位移、刚度和阻尼，负压吸附动力学模型等效为一阶的机械系统，建立了键图模型，应用20sim软件进行仿真。结果：仿真结果显示爬壁机器人负压吸附过程在负压形成过程中是一阶响应过程。结论：最后进行了试验测试，实验结果表明了所建立模型的正确性。

Dynamic Analysis and Experimental Research of a Wall Climbing Robot

Objetive: The transient sucking process was analyzed since the value of negative pressure plays an important role in robot’s safety, locomotion ability, parameter selection of mechanism and power. Method: A mathematical model of the transient sucking process was made and analyzed with bond graph theory since studying the process is key to improve the performance of the wall climbing robot. Firstly, the suction system is analyzed and designed keeping in mind requirements of a wall climbing robot with the Computational Fluid Dynamics (CFD) tool. Secondly, by reasonable assumptions and fluid dynamics theory, parameters of the sealing system are equivalent to rigidity and damp by bond graph theory. Then, the relationship between the negative pressure generated by the fan and the motor’s input voltage is simplified to a first-order expression. Result: Simulation result shows the transient process of a wall climbing robot’s negative pressure generating dynamic process is a first-order expression. Conclusion: At last, a bond graph model was made, and simulations by 20sim software and experiments were carried out to confirm its validity.