基于Halbach阵列的爬壁机器人永磁吸附模块优化设计

Optimal Design of Permanent Magnet Adsorption Module Based on Halbach Array for Wall-climbing Robot

针对轮式永磁吸附爬壁机器人吸附效率较低的问题,设计了一种基于Halbach阵列的新型弧形永磁吸附模块,研究其吸附特性并进行优化。运用ANSYS Maxwell软件对新型吸附模块进行有限元仿真分析,研究Halbach弧形永磁体阵列在聚磁一侧的磁感线分布规律;为了减少弱磁侧的磁感线泄漏,在传统的Halbach永磁阵列基础上,在弱磁侧增加了轭铁装置;通过对弧形磁体阵列的角度、宽度、厚度及轭铁的厚度对吸附力的影响的研究,采用控制变量法并利用ANSYS Maxwell对新型弧形永磁吸附模块的关键结构尺寸进行优化,设计了永磁吸附模块的最优尺寸。结果表明,经过优化后的吸附单元的总体质量降低,但单位质量吸附力增大,磁能利用率大幅度提高,为轮式爬壁机器人的优化设计提供依据。

Aiming at the low adsorption efficiency of wheeled permanent magnet wall-climbing robot,a new curved permanent magnet adsorption module based on Halbach array was designed,and its adsorption characteristics were studied and optimized.The finite element simulation analysis of the new adsorption module was carried out with ANSYS Maxwell,and the distribution law of magnetic inductance line of Halbach arc permanent magnet array on the magnetic gathering side was studied.In order to reduce the leakage of magnetic sensing lines on the weak magnetic side,a yoke iron device is added on the weak magnetic side based on the traditional Halbach permanent magnetic array.Based on the study of the influence of Angle,width,thickness of arc magnet array and the thickness of yoke iron on the adsorption force,the control variable method and ANSYS Maxwell were adopted to optimize the key structure size of the new arc permanent magnet adsorption module,and the optimal size of the magnetic adsorption module was designed.The results show that the overall mass of the optimized adsorption unit is reduced,but the adsorption capacity per unit mass is increased,and the utilization rate of magnetic energy is greatly improved,which provides a basis for the optimal design of the wheeled wall-climbing robot.