Analysis of Mechanics and Power Consumption of Wall-climbing Robot with Permanent Magnet Adsorption Wheel
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摘要: 为从减少大型原油储罐检测分区和节约功耗的角度合理规划爬壁机器人运动方式和路径,对大型原油储罐缺陷检测爬壁机器人在垂直壁面运动的受力和功耗问题进行研究。首先对机器人匀速直线运动和转向运动进行受力分析,得出机器人在竖直直线运动、水平直线运动、大半径转向运动以及小半径转向运动时的受力和功率消耗情况;通过仿真分别对比分析两种匀速直线运动和两种转向运动的功率消耗情况;搭建爬壁机器人样机实验平台,进行功耗验证实验;仿真和实验一致得出竖直直线运动的功耗小于水平直线运动,大半径转向功耗小于小半径转向的结论。Abstract: To rationally plan the movement and path of wall-climbing robots from the perspective of reducing the detection zone and saving power consumption of large-scale crude oil storage tanks. The study on the force and power consumption of the wall-climbing robot in the vertical wall movement for the defect detection of large-scale crude oil storage tanks. Firstly, the forces of the uniform linear motion and the steering motion of the robot are respectively analyzed, and the force and power consumption of the robot in the vertical straight motion, horizontal linear motion, large radius steering motion and small radius steering motion are obtained; the power consumption of two uniform linear motions and two kinds of steering motions are analyzed; a prototype experimental platform for climbing wall robots, and verify the power consumption is built; the simulation and experiment show that the power consumption of vertical straight line motion is less than the horizontal straight line motion, and the large radius steering power consumption is less than the small radius steering conclusion.
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Key words:
- wall-climbing robot /
- power consumption /
- force analysis
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表 1 机器人竖直匀速直线运动测试数据
磁间距/mm 16 14 12 10 运动方向 上升 下降 上升 下降 上升 下降 上升 下降 滑移距离/mm 12 10 6 7 4 3 2 3 平均电流/A 0.93 0.43 1.19 0.59 1.23 0.71 1.44 0.88 竖直运动电流/A 0.68 0.89 0.97 1.16 功率/W 14.69 19.22 20.95 25.06 表 2 机器人水平匀速直线运动测试数据
磁间距/mm 16 14 12 10 8 6 4 运动方向 水平向左 水平向左 水平向左 水平向左 水平向左 水平向左 水平向左 滑移距离/mm 35 27 20 14 9 6 3 平均电流/A 0.68 0.86 0.98 1.14 1.49 1.77 2.37 功率/W 14.69 18.58 21.17 24.62 32.18 38.23 51.19 表 3 机器人大半径转弯运动测试数据
实验次数 1 2 3 4 5 6 滑移距离/cm 13.3 13.6 13.8 14.2 12.8 13.5 电流/A 1.28 1.31 1.30 1.26 1.29 1.31 平均电流/A 1.29 功率/W 27.86 表 4 机器人小半径转弯运动测试数据
实验次数 1 2 3 4 5 6 滑移距离/cm 13.6 13.2 12.5 13.7 12.1 12.3 电流/A 2.99 3.08 3.12 3.15 3.06 3.10 平均电流/A 3.08 功率/W 66.53 -
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