Design analysis and structural parameter optimization for magnetic adsorption module of wall-climbing robot
As a vital component of the magnetic adsorption wall-climbing robot,the structure of the magnetic adsorption module usually affects the overall mass and adsorption stability of the robot.Aiming at the problems of complex magnetic circuit coupling relationship and complicated optimization design of magnetic adsorption modules,a magnetic adsorption module structure optimization method is proposed by combining virtual simulation technology,surrogate model and dung beetle optimization algorithm to improve the efficiency of magnetic force calculation and optimization design process.Firstly,the structure design scheme for the wall-climbing robot was introduced,and through the simulation analysis of the existing Halbach array magnetic circuit modes,it was determined that the three-magnetic circuit mode had relatively high adsorption efficiency.At the same time,the magnetic force simulation model of the magnetic adsorption module was experimentally verified based on the initial parameters,which laid the foundation for establishing subsequent surrogate models.Then,an optimization model with the robot's adsorption stability and structural parameters as constraints and the lightweight of the magnetic adsorption module as objective was established.A fourth-order response surface model between the magnetic force and the structural parameters of the magnetic adsorption module was established by the optimal Latin hypercube design,ANSYS parametric modeling and surrogate model technology,and its credibility was verified.The structural parameter optimization model of the magnetic adsorption module was solved by using the dung beetle optimization algorithm.The results showed that the prediction error of the established surrogate model was tiny,and the relationship between the magnetic force and the structural parameters of the magnetic adsorption module could be well expressed.After optimization,the mass of the magnetic adsorption module was reduced by 12.7%.Finally,the correctness of the optimization process was verified through robot load experiments.The research results can provide reference for the magnetic force analysis and structure optimization of other magnetic adsorption robots.
万方数据
维普
