永磁轮式爬壁微机器人尺寸优化设计研究

Optimal Size Design of Permanent-Magnetic Wheeled Wall-Climbing Microrobot

给出了一种全向的永磁轮式爬壁微机器人。为获得爬壁机器人运动所需力矩和磁力与其尺寸设计之间的关系,研究了其动力学分析方法。结合爬壁机器人自身永磁轮尺寸、永磁轮间距、转向齿轮传输比、底盘半径、所需磁吸附力等设计约束,构造所需驱动力矩最小为目标函数,对其主要尺寸参数进行了优化设计。通过ANSOFT磁力仿真、Pro/Engineer机械仿真和MATLAB计算对爬壁机器人整体尺寸优化设计进行求解。对仿真计算结果进行了分析比较,证明上述设计方法的可行性。

It presents an omni-directional wall-climbing microrobot with permanent-magnetic wheels. To obtain the relationship between the required torque and magnetic force of the robot and its size, its dynamical analysis method is studied. Combined with the following design constraints, such as the size of permanent-magnetic wheel, distance between wheels, transmission ration of steering gears, radius of chassis and magnetic force and so on, the sizes of the robot is optimized so as to minimize its required driving torque. By ANSOFT magnetic force simulation, Pro/Engineer mechanical simulation and MATLAB calculation, the optimization size design is solved. The simulation result demonstrates the feasibility of the design method.