摘要
针对履带式爬壁机器人磁吸附单元吸附效率低的问题,基于正交实验设计、响应面近似模型和敏感性分析方法,对其进行了参数分析与结构优化。建立了磁吸附单元有限元模型,并采用正交实验设计和响应面近似模型方法,得到了磁吸附单元各参数与磁吸附力的关系表达式。通过敏感性分析,量化了磁吸附单元各参数对磁吸附力的影响程度。确定了永磁体的长、宽、高、轭铁的厚度和永磁体与壁面的距离作为优化模型的设计变量。优化设计后,磁吸附单元的吸附效率有了显著的提升,由2.0297提升至3.9381。
Due to low adsorption efficiency of magnetic adsorption unit(MAU)of crawler wall⁃climbing robot,the parameters analysis and structural optimization design are carried out based on DOE,RSM and sensitivity analysis method.The functional relationship between the parameters of the MAU and the magnetic force is obtained by the finite element simulation model,DOE and RSM.The sensitivity of parameters of the MAU to the magnetic adsorption force is determined by the sensitivity analysis.The length,the width,the height of the permanent magnet,the thickness of the yoke and the distance between the permanent magnet and the wall are selected as the design variables.After the optimized design,the adsorption efficiency of the MAU is increased from 2.0297 to 3.9381.
作者
赵智浩
陶友瑞
裴佳星
胡俊宇
ZHAO ZhiHao;TAO YouRui;PEI JiaXin;HU JunYu(School of Mechanical Engineering,Hebei University of Technology,Tianjin 300401,China;College of Mechanical and Vehicle Engineering,Hunan University,Changsha 410082,China)
出处
《机械强度》
CAS
CSCD
北大核心
2023年第3期626-632,共7页
Journal of Mechanical Strength
基金
国家重点研发计划项目(2020YFB2009400)
河北省自然科学基金创新群体项目(E2020202142)资助。
关键词
爬壁机器人
磁吸附单元
敏感性分析
结构优化
Wall⁃climbing robot
Magnetic adsorption
Unit sensitivity analysis
Structural optimization
