永磁吸附履带式管外爬行机器人的力学分析及运动仿真

Mechanical Analysis and Motion Simulation of Permanent Magnet AdsorptionCrawler - Type Out - of - Pipe Crawling Robot

为提高管外机器人的负载能力与越障能力,设计一种永磁吸附履带式管外爬行机器人。建立机器人在管道上的静力学和动力学模型,得到机器人在轴向和周向稳定运动时的吸附力条件。利用Ansoft Maxwell对比分析磁性履带组中永磁铁2种不同布局方式,选定合适的布局方式并计算该布局方式下磁性履带组在轴向和周向运动时能够提供的吸附力,验证了磁性履带组设计方案的合理性。最后基于ADAMS进行了运动仿真,得到越障过程中质心变化规律,验证了机器人具有良好的越障性能。

In order to improve the load capacity and obstacle ability of the out-pipe robot,a permanent magnet adsorption crawler-type out-of-pipe crawling robot was designed.The static and dynamic models of the robot on the pipe were established to obtain the adsorption force conditions for the robot in axial and circumferential stable motion.Ansoft Maxwell was used to compare and analyze two different layouts of permanent magnets in the magnetic track set,the appropriate layout was selected and the adsorption forces provided by the magnetic track set were calculated in axial and circumferential motion under the layout,and the rationality of the magnetic track set design was verified.Finally,the motion simulation of the robot was carried out based on ADAMS,and the change rule of the mass center during the obstacle crossing process was obtained,which verified the obstacle crossing performance of the robot.