PARAMETER ANALYSIS AND OPTIMIZATION OF MAGNETIC ADSORPTION UNIT FOR CRAWLER WALL-CLIMBING ROBOT (MT)

ZHAO ZhiHao; TAO YouRui; PEI JiaXin; HU JunYu

doi:10.16579/j.issn.1001.9669.2023.03.017

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PARAMETER ANALYSIS AND OPTIMIZATION OF MAGNETIC ADSORPTION UNIT FOR CRAWLER WALL-CLIMBING ROBOT (MT)

更新时间：2023-08-01

- PARAMETER ANALYSIS AND OPTIMIZATION OF MAGNETIC ADSORPTION UNIT FOR CRAWLER WALL-CLIMBING ROBOT (MT)
- Journal of Mechanical Strength Issue 3, Pages: 626-632(2023)
- 作者机构：
  
  1. 河北工业大学机械工程学院
  2. 湖南大学机械与运载工程学院
- 作者简介：
- 基金信息：
- DOI：10.16579/j.issn.1001.9669.2023.03.017
  CLC：
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ZHAO ZhiHao, TAO YouRui, PEI JiaXin, et al. PARAMETER ANALYSIS AND OPTIMIZATION OF MAGNETIC ADSORPTION UNIT FOR CRAWLER WALL-CLIMBING ROBOT (MT). [J]. Journal of Mechanical Strength (3):626-632(2023)
DOI：

ZHAO ZhiHao, TAO YouRui, PEI JiaXin, et al. PARAMETER ANALYSIS AND OPTIMIZATION OF MAGNETIC ADSORPTION UNIT FOR CRAWLER WALL-CLIMBING ROBOT (MT). [J]. Journal of Mechanical Strength (3):626-632(2023) DOI： 10.16579/j.issn.1001.9669.2023.03.017.

摘要

针对履带式爬壁机器人磁吸附单元吸附效率低的问题，基于正交实验设计、响应面近似模型和敏感性分析方法，对其进行了参数分析与结构优化。建立了磁吸附单元有限元模型，并采用正交实验设计和响应面近似模型方法，得到了磁吸附单元各参数与磁吸附力的关系表达式。通过敏感性分析，量化了磁吸附单元各参数对磁吸附力的影响程度。确定了永磁体的长、宽、高、轭铁的厚度和永磁体与壁面的距离作为优化模型的设计变量。优化设计后，磁吸附单元的吸附效率有了显著的提升，由2.029 7提升至3.938 1。

Abstract

Due to low adsorption efficiency of magnetic adsorption unit（MAU） of crawler wall-climbing robot, the parameters analysis and structural optimization design are carried out based on DOE, RSM and sensitivity analysis method. The functional relationship between the parameters of the MAU and the magnetic force is obtained by the finite element simulation model, DOE and RSM. The sensitivity of parameters of the MAU to the magnetic adsorption force is determined by the sensitivity analysis. The length, the width, the height of the permanent magnet, the thickness of the yoke and the distance between the permanent magnet and the wall are selected as the design variables. After the optimized design, the adsorption efficiency of the MAU is increased from 2.029 7 to 3.938 1.

关键词

爬壁机器人磁吸附单元敏感性分析结构优化

Keywords

Wall-climbing robotMagnetic adsorptionUnit sensitivity analysisStructural optimization

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