铁质壁面检测用振动驱动爬壁机器人的设计与实验
Design and Experiment of a Vibration-Driven Wall-Climbing Robot for Iron Surface Inspection
李建磊 1唐陈伟 1彭禧 1姚红良1
作者信息
- 1. 东北大学 机械工程与自动化学院,辽宁 沈阳 110819
- 折叠
摘要
研究并测试了一种能够在水平至竖直壁面上移动的振动驱动爬壁机器人样机,可开发用于铁质壁面结构视检等高危工作.设计了一种具有非对称刚度的弹性底板,以转子振动电机-弹簧作为致动器,基于库仑干摩擦模型,建立了振动驱动爬壁机器人的动力学模型.通过数值仿真研究了机器人的爬壁运动特性,分析了致动器激振频率、壁面倾角和永磁铁吸引力对机器人平均速度的影响规律.对振动驱动爬壁机器人样机进行了壁面运动实验验证.结果表明,通过合理配置永磁铁吸引力和致动器激振频率能够有效提高该机器人的平均速度,并在30°壁面和90°壁面上分别实现了10.6 mm/s和16.7 mm/s的平均爬壁速度,通过调控激振频率可实现前进与后退运动的切换.
Abstract
A vibration-driven wall-climbing robotic prototype has been studied and tested to move on horizontal to vertical wall sunfaces,which can be developed for high-risk tasks such as the visual inspection of iron wall surface.An elastic substrate with asymmetric stiffness is designed,and the dynamics model of the vibration-driven wall-climbing robot is developed based on the Coulomb dry friction model,with a rotor vibration motor-spring as the actuator.The wall-climbing motion characteristics of the robot are investigated by numerical simulation,and the effects of actuator excitation frequency,wall inclination angle,and permanent magnet attraction on the average speed of the robot are analyzed.The wall motion experiment of the vibration-driven wall-climbing robot prototype is carried out.The results show that the average speed of the robot can be effectively improved by reasonable configuration of the permanent magnetic attraction and the excitation frequency,the average wall-climbing speeds of 10.6 mm/s and 16.7 mm/s are achieved on the 30° and 90° walls,respectively,whereas the forward motion and backward motion can be switched by regulating the excitation frequency.
关键词
振动驱动/机器人样机/致动器/爬壁检测Key words
vibration-driven/robotic phototype/actuator/wall-climbing/inspection引用本文复制引用
基金项目
国家自然科学基金资助项目(52075084)
出版年
2024
NETL
NSTL
万方数据