摘要
提出一种面向船舶维护和监测的爬壁机器人,分析了自重和负载重量对壁面吸附和行走的力学状态,确定了磁吸附力和电动机驱动转矩,进而建立有限元模型获得机器人本体结构应力和变形分布。
This paper presents a wall-climbing robot for ship maintenance and monitoring. The mechanical analysis is carried out with considering the influence of self-gravity and load on the suction and climbing. Then, the maximum magnetic force and the torque of motor are determined. Finally, a FEA model is built to obtain the stress and deformation of the robot.
作者
姜红建
高振飞
杜镇韬
王斌
JIANG Hongjian1, GAO Zhenfei1, DU Zhentao1, WANG Bin2(1Ocean College, Zhejiang University,Zhouhsan 316021, China; 2.Jinhai Heavy Industry Co., Ltd.,Zhoushan 316021,Chin)
出处
《机械工程师》
2018年第6期48-50,53,共4页
Mechanical Engineer
基金
浙江省舟山市科技项目(2016C21149)
浙江省重点创新团队项目(2013TD14)
关键词
船舶
爬壁机器人
受力分析
ship
wall-climbing robot
mechanical analysis
