| 邹洪森， 刘志远， 赵欣洋， 徐天书， 李研彪， 曾晰， 郑倩倩.基于Halbach阵列的爬壁机器人磁轮特性研究[J].轻工机械,2019,37(1):28-31 |
| 基于Halbach阵列的爬壁机器人磁轮特性研究 |
| Characteristic Analysis of Wall Climbing Robot Magnet Wheel Based on Halbach Array |
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| DOI：10.3969/j.issn.1005 2895.2019.01.005 |
| 中文关键词: 爬壁机器人 Halbach阵列 磁轮 修正的傅立叶级数 磁通分布模型 ANSYS |
| 英文关键词:wall climbing robot Halbach array magnet wheel modified Fourier series magnetic flow distribution model ANSYS |
| 基金项目:国家自然科学基金（51405444）；浙江省自然科学基金（LY18E050023）。 |
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| 中文摘要: |
| 针对磁吸附式爬壁机器人存在负载能力差、稳定性不高等缺点，课题组提出了一种基于Halbach阵列的磁轮吸附式爬壁清洁机器人，用于壁面清扫。采用修正的傅立叶级数形式推导出Halbach 永磁阵列磁场解析模型；通过ANSYS仿真得出了磁轮磁通分布模型。随后进行了磁吸附力试验，结果表明：Halbach阵列与普通对向极磁环对比，Halbach阵列的吸附距离对其吸附力的影响较弱；同时，其吸附力是普通对向极磁环吸附力的2倍多。Halbach阵列的磁轮吸附方法可提升机器人爬行负载能力及稳定性。 |
| 英文摘要: |
| Aiming at problems of poor load capacity and low stability of magnetic adsorption wall climbing robot, a wall climbing robot based on Halbach array magnet wheel was presented for cleaning process to converter valve box. Calculation model of Halbach array magnet wheel was obtained by modified Fourier series. Magnetic flow distribution model of magnetic wheel was shown by ANSYS simulation. The magnetic adsorption force test was carried out subsequently. Experimental results showed that the adsorption distance of Halbach array had a weak influence on its adsorption force comparing with that of normal magnet wheel; which the magnetic absorbability of Halbach array magnet wheel was more than twice that of normal magnet wheel. This design could improve the load capacity and stability of wall climbing robot. |
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