摘要
The structure and working principle of a kind of permanent-magnet adsorption tracked wall-climbing ro-bot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when perma-nent-magnet adsorption tracked was driven by ac servo motor. In order to improve the load capacity and obstaclesurmounting ability of robot, a new permanent-magnet auxiliary caster adsorption mechanism and driven wheelfloating mechanism were used for the design of structure. In thispaper, the mechanical state of the permanent-mag-netic adsorption tracked climbing mechanism was analyzed. Through the magnetic simulation and experimental a-nalysis of magnetic adsorption system, the adsorption unit structure and electric drive system parameters of thepermanent-magnet tracked wall-climbing robot were reasonably designed.
The structure and working principle of a kind of permanent-magnet adsorption tracked wall-climbing robot used in ship was analyzed in this paper. The robot can complete vertical climbing wall function when permanent-magnet adsorption tracked was driven by ac servo motor. In order to improve the load capacity and obstacle surmounting ability of robot,a new permanent-magnet auxiliary caster adsorption mechanism and driven wheel floating mechanism were used for the design of structure. In thispaper,the mechanical state of the permanent-magnetic adsorption tracked climbing mechanism was analyzed. Through the magnetic simulation and experimental analysis of magnetic adsorption system,the adsorption unit structure and electric drive system parameters of the permanent-magnet tracked wallclimbing robot were reasonably designed.
出处
《机床与液压》
北大核心
2016年第6期6-11,共6页
Machine Tool & Hydraulics
基金
supported by the National Natural Science Foundation of China ( 11272122 )
Guangdong Province section of major research projects (2012A090 300011)
Science and Technology Project of Shaoguan (2014CXY-C312)
