Design of Tracked Underwater Cleaning Robot and Optimization of Permanent Magnet Adsorption
In order to solve the problem of high cost and long cycle for manual cleaning of attachments in dock or underwater on the wall of inland river hull,a tracked underwater cleaning robot was designed.By establishing the static model of the robot,the minimum adsorption force required by the robot under static stable conditions was solved,and the dimensional parameters of the optimal performance of the group of permanent magnets with N-S positive and negative magnetization and Halbach magnetic circuit are solved by Maxwell simulation.The results showed that the optimized Halbach magnetic circuit group of permanent magnets can meet the total thickness of paint layer and attachment not more than 10 mm,while the N-S positive and negative magnetization group of magnets can only meet the total thickness of safety attachment not more than 6 mm.The experiment of manufacturing functional prototype verifies that the robot can meet the wall attachment requirements with a spacing of less than 10 mm,which lays the foundation for the next engineering application of the robot.
underwater cleaning robotpermanent magnet adsorptionstaticsN-S magnetizationHalbach magnetic circuit
NETL
NSTL
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