基于静电吸附原理的双履带爬壁机器人设计

Design of a double track wall-climbing robot based on electrostatic adsorption mechanism

研究了基于静电吸附原理的爬壁机器人设计过程。针对静电吸附原理进行分析,对电极与壁面间产生的吸附力解析建模,通过实验验证静电吸附作用。根据静电吸附力的性质,设计履带式爬壁结构,借助Solidworks软件进行三维建模,分析双履带车质量、重心等关键参数。对机器人样机在壁面上发生吸附时的受力情况展开分析,确定提高爬壁机器人安全稳定性的改进措施。最后对机构运动控制系统作简要介绍。

This paper studies the overall design process of a wall-climbing robot based on electrostatic adsorption mechanism.Firstly,after analyzing the principle for the electrostatic adsorption,the adhesive force generated between wall and the electrode was analyzed and modeled,and the electrostatic adsorption action was proven by test.According to the nature of electrostatic adsorption force,a double-track vehicles structure for this wall-climbing robot was designed,and by applying three-dimensional modeling software Solidworks to establish the model,the key parameters as quality,weight and center of gravity of the double-track vehicle was analyzed.The mechanical safety analysis of the designed wall-climbing robot on vertical wall surface was carried out to determine the measures for improving its safety and stability.Finally,brief introduction for the movement control system of the mechanism was given.