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一种新型爬壁机器人的研究
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    摘要:

    提出一种新型永磁吸附式爬壁机器人,采用三角形车身结构,两个三角履带前轮和一个万向后轮,适用于压力容器的圆柱形或球形壁面。利用Pro/E软件建立实体模型,将数据导入ADAMS软件中,并对其建立约束、定义材料属性和接触、添加驱动等完成动力学模型建立。以6 m/min的速度进行半径2 m的圆柱面爬行仿真和爬越5 mm余高焊缝仿真,并与传统四轮式机器人对比。仿真结果表明,该爬壁机器人可有效适应圆柱形壁面,与壁面贴合可靠,同时爬越焊缝时可大大减小冲击和振动。

    Abstract:

    A new wall-climbing robot of permanent magnetic adsorption is presented.A triangular body structure was included in using with two triangular pedrail wheels and a universal wheel,which was suitable for cylindrical or spherical wall of pressure vessel.The solid model was established by using Pro/E software,than imported data into ADAMS software.Then its constraints were created,and the material properties and the contact,and adding driving force and etc.were defined to establish dynamics model.The two movement patterns were simulated as moving on a cylinder with a radius of 2 m and crossing over the welding line above 5 mm high at the speed of 6 m/min,and were compared with the traditional four-wheeled robot.Simulation results prove that the wall-climbing robot can effectively adapt to the cylindrical wall,reliably absorb to wall surface,and dramatically reduce the shock and vibration while climbing over welding line.

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张捷,袁祖强,吴航.一种新型爬壁机器人的研究[J].机床与液压,2014,42(21):80-83.
.[J]. Machine Tool & Hydraulics,2014,42(21):80-83

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  • 在线发布日期: 2015-07-15
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