壁面清洗机器人悬停状态下的吸附稳定性分析

Analysis of Adsorption Stability of Wall Cleaning Robot in Hovering State

针对推力吸附式壁面清洗机器人悬停状态下的吸附稳定性问题,考虑机器人在垂直壁面工作时滑移、倾覆两种失稳现象,对机器人进行静态吸附力稳定分析,建立了最小推力模型,并利用Matlab对推力与旋翼倾角之间的关系进行分析,结果表明在满足防滑移失稳条件下必满足防倾覆失稳,并确定了最佳旋翼倾角为55°,旋翼应提供的最小推力为59 N。基于Fluent对所选黏附系统进行气动仿真计算,得到机器人理论吸附力值。最后搭建吸附力测试实验台进行实际吸附力测试验证仿真结果。结果表明,机器人所选黏附系统能保证机器人在垂直壁面上的稳定吸附,为机器人优化设计提供理论基础。

In view of the adsorption stability of the thrust adsorption wall cleaning robot in the hovering state,considering the two instability phenomena of sliding and overturning when the robot works on the vertical wall,the static adsorption force stability of the robot is analyzed,the minimum thrust model is established,and the relation between thrust and rotor inclination angle is analyzed using Matlab.The results show that the best rotor inclination is 55°and the minimum thrust provided by the rotor is 59 N.The aerodynamic simulation of the selected adhesion system is carried out based on Fluent,and the theoretical adsorption force of the robot is obtained.Finally,the adsorption force test bench is set up to test the actual adsorption force and verify the simulation results.The results show that the adhesion system selected by the robot can guarantee the stable adsorption of the robot on the vertical wall,which provides a theoretical basis for the optimal design of the robot.