风作用下含磁流变阻尼器的拉索攀爬机器人动力学建模与分析

Dynamic modeling and analysis of a cable-climbing robot with amagnetorheological damper under wind action

为增强拉索攀爬机器人在不同风载环境下的适应能力,提出了一种机器人-拉索-风耦合系统的动力学建模与分析方法.首先,利用磁流变液体的固液转换特性,设计了具有输出力连续可调功能的阻尼器,并将其应用于拉索攀爬机器人.其次,分析拉索载荷,建立了机器人-拉索-风耦合动力学模型.然后,通过有限元分析,获得阻尼器中磁流变液产生的阻尼力变化范围为0~153.45 N,与理论模型一致.同时,利用动力学模型的数值仿真得到了阻尼器的建议工作电流分别为0.1 A (3级风)和0.3 A (6级风).最后,为了验证以上理论,分别对阻尼器和拉索攀爬机器人进行了性能测试实验.结果表明,与理论值相比,该阻尼器实际输出力的平均相对误差不超过3.22%.将其安装到机器人上,可将速度波动范围降低83.7%,能显著提高机器人的爬升稳定性.

To enhance the adaptability of a cable-climbing robot under different wind loads, dynamic modeling and analysis of a robot-cablewind coupling system is proposed herein. First, a damper with continuously adjustable output force is designed using the solid-liquidconversion characteristics of a magnetorheological (MR) fluid. This damper can be installed on a cable-climbing robot. Second, acoupling dynamics model of the robot-cable-wind system is established by analyzing the cable load. Then, finite element analysisreveals that the variation range of damping force generated by the MR fluid in the damper is 0–153.45 N, which is consistent with thetheoretical model. The numerical simulation of the dynamic model shows that the recommended working currents with respect to thedamper are 0.1 A (Force 3) and 0.3 A (Force 6). Finally, to verify the abovementioned theory, performance tests are conducted on thedamper and cable-climbing robot. The test results show that compared with the theoretical value, the value of average relative error inthe actual output force of the damper is less than 3.22%. When the damper is installed on the robot, the speed fluctuation range can bereduced by 83.7%. This improves the climbing stability of the robot substantially.