[1]孙天圣,刘芳华,江 来,等.基于 Halbach 阵列的爬壁机器人永磁吸附模块优化设计[J].机械与电子,2023,41(10):54-59.
　SUN Tiansheng,LIU Fanghua,JIANG Lai,et al.Optimal Design of Permanent Magnet Adsorption Module Based on Halbach Array for Wall-climbing Robot[J].Machinery & Electronics,2023,41(10):54-59.
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基于 Halbach 阵列的爬壁机器人永磁吸附模块优化设计()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
41
期数:
2023年10期
页码:
54-59
栏目:
机电一体化技术
出版日期:
2023-10-23

文章信息/Info

Title:
Optimal Design of Permanent Magnet Adsorption Module Based on Halbach Array for Wall-climbing Robot
文章编号:
1001-2257 ( 2023 ) 10-0054-06
作者:
孙天圣; 刘芳华; 江 来; 曹永鑫; 陈 杨; 缪 游
江苏科技大学机械工程学院,江苏 镇江 212003
Author(s):
SUN Tiansheng ;  LIU Fanghua ;  JIANG Lai ;  CAO Yongxin ;  CHEN Yang ;  MIAO You
( School of Mechanical Engineering , Jiangsu University of Science and Technology , Zhenjiang 212003 , China )
关键词:
爬壁机器人;  Halbach 阵列; 永磁吸附; ANSYS Maxwell ; 有限元仿真
Keywords:
wall climbing robot ;  Halbach array ;  permanent magnet adsorption ;  ANSYS Maxwell ;  finite element simulation
分类号:
TP242.2
文献标志码:
A
摘要:
针对轮式永磁吸附爬壁机器人吸附效率较低的问题,设计了一种基于 Halbach 阵列的新型弧形永磁吸附模块,研究其吸附特性并进行优化。运用 ANSYS Maxwell 软件对新型吸附模块进行有限元仿真分析,研究 Halbach 弧形永磁体阵列在聚磁一侧的磁感线分布规律;为了减少弱磁侧的磁感线泄漏,在传统的 Halbach 永磁阵列基础上,在弱磁侧增加了轭铁装置;通过对弧形磁体阵列的角度、宽度、厚度及轭铁的厚度对吸附力的影响的研究,采用控制变量法并利用 ANSYS Maxwell 对新型弧形永磁吸附模块的关键结构尺寸进行优化,设计了永磁吸附模块的最优尺寸。结果表明,经过优化后的吸附单元的总体质量降低,但单位质量吸附力增大,磁能利用率大幅度提高,为轮式爬壁机器人的优化设计提供依据。
Abstract:
Aiming at the low adsorption efficiency of wheeled permanent magnet wall-climbing robot , a new curved permanent magnet adsorption module based on Halbach array was designed , and its adsorption characteristics were studied and optimized.The finite element simulation analysis of the new adsorption module was carried out with ANSYS Maxwell , and the distribution law of magnetic inductance line of Halbach arc permanent magnet array on the magnetic gathering side was studied.In order to reduce the leakage of magnetic sensing lines on the weak magnetic side , a yoke iron device is added on the weak magnetic side based on the traditional Halbach permanent magnetic array.Based on the study of the influence of Angle , width , thickness of arc magnet array and the thickness of yoke iron on the adsorption force , the control variable method and ANSYS Maxwell were adopted to optimize the key structure size of the new arc permanent magnet adsorption module , and the optimal size of the magnetic adsorption module was designed.The results show that the overall mass of the optimized adsorption unit is reduced , but the adsorption capacity per unit mass is increased , and the utilization rate of magnetic energy is greatly improved , which provides a basis for the optimal design of the wheeled wall-climbing robot.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2023-03-03
基金项目:国家自然科学基金青年科学基金项目( 62002141 )
作者简介:孙天圣 ( 1994- ),男,山西大同人,硕士研究生,研究方向为爬壁机器人;刘芳华 ( 1972- ),女,山东青岛人,博士,教授,研究方向为机电系统工程与一体化技术、多体动力学及机器人技术、微机控制及自动化技术。
更新日期/Last Update: 2023-10-31