Design and Optimization of the Magnetic Adsorption Unit for Turbo Generator Inspection Robot
In order to improve the adsorption performance of the detection robot and reduce the weight of the robot,the permanent magnet adsorption unit is designed and optimized through finite element simulation,numerical fitting and artificial bee colony algorithm in this study.Three different magnetic circuits are designed,and the Ansoft Maxwell simulation software is used to analyze the adsorption properties of different magnetic circuits,which demonstrates that the Halbach magnetic circuit has better performance than traditional H-shaped magnetic circuit.For the Halbach array,when the width and thickness of the permanent magnet are unchanged,the magnetic adsorption force first increases and then decreases with the increase of the length of the vertically magnetized permanent magnet.After the parameter optimization of the magnetic circuit through the artificial bee colony algorithm,the magnetic adsorption unit volume decreases while the magnetic adsorption force per unit mass increases.The functional verification experiments based on the robot body show that the wall-climbing robot can run stably in any working position.
wall-climbing robotmagnetic adsorption unitfinite element simulationparameter optimizationartificial bee colony algorithm
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