履带式爬壁机器人磁吸附单元的磁场及运动分析.pdfVIP

28 2 机器人 ROBOT Vo.l 28, No. 2 2006 3 M rch, 2006 : 1002-0446( 2006) 02-0219-05 * 张俊强, 张华, 万伟民 (, 330029) : . , ANSYS. , , . : ; ; : TP24 : B Field and M otion Analysis on the M agnetic Unit of T racked W al-l Clim bing Robot ZHANG Jun-q i ng, ZHANG Hu , WAN W e-im in (Nanchang University, N anchang 330029, Ch ina) Abstract: Th is p per introduces the structure nd the work ing principle of m gnetic unit used on tr cked w l-l clmi b ing robot. An FEM ( fin ite elem ent m ethod) num eric lmodel of the single un it is developed, nd them gnetic field results un- der d ifferent work ing conditions re solved by ANSYS softw re. Through series ofm e surem ents on the ou tput torque of the driving motor, w e presen t pl n r force equ tion of the tr ck, wh ich provides b se for the dyn m ics nd the k inem tics of the robot. K eyword s: tr cked w l-l clmi b ing robot; m gnetic field; force n lysis 1 Introduction) . , , , , . , [ 1] , , [ 2] . . 2 Structure . , and w orking princip le of the m agnetic u- , nit) , ()