| Related citation: | Shun Xiao,Guangping He,Jiejian Di,Jie Zhang,Zhonghai Zhang.Investigation on the Effect of the Tension Degree of Tracks on the Adsorption Performance of Tracked Wall Climbing Robot[J].Journal of Harbin Institute Of Technology(New Series),2023,30(1):52-60.DOI:10.11916/j.issn.1005-9113.2021137. |
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| Author Name | Affiliation | | Shun Xiao | Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, China | | Guangping He | Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, China | | Jiejian Di | Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, China | | Jie Zhang | Department of Mechanical and Electrical Engineering, North China University of Technology, Beijing 100144, China | | Zhonghai Zhang | Beijing Aerospace Measurement & Control Technology Co., Ltd., Beijing 100041, China |
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| Abstract: |
| In this paper, a new tracked wall climbing robot with permanent magnetic units is designed, and the tension degree of robot’s tracks is found to have a significant impact on the robot’s adsorption performance. This tracked wall climbing robot is a remotely controlled robot. All the control devices can be installed on the robot body. All the permanent magnetic units are arranged on the light track. In order to illustrate the relationship between the tension degree and the adsorption performance, when absorbed on the vertical surface and 180-degree inverted surface, the static force analysis of the robot is presented. Finally, experiments were demonstrated to prove that higher tension degree of tracks can make adsorption performance better. |
| Key words: permanent magnetic adsorption track tension degree wall climbing robot |
| DOI：10.11916/j.issn.1005-9113.2021137 |
| Clc Number:TH132 |
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| Descriptions in Chinese: |
| 履带式爬壁机器人的履带张紧程度对吸附性能影响的讨论 肖顺1，何广平1，狄杰建1，章杰1，张忠海2，周林2 （1.北方工业大学 机电工程系，北京100144；2.北京航天测控技术有限公司,北京 100041） 摘要：本文提出一种配置有永磁吸附单元的新的履带式爬壁机器人，并且发现履带的张紧程度对机器人的吸附性能有很大的影响。该履带式爬壁机器人可以被远程操控，所有的控制设备都被安装于机器人本体上。所有的永磁吸附单元都排列分布于轻质履带上。为了阐述履带张紧程度和机器人吸附性能之间的关系，当机器人吸附于垂直壁面上和180度倒置壁面上时，对机器人进行了静力学分析。最后，通过一系列实验证实了履带的张紧程度越高，履带式爬壁机器人的吸附性能越好。 关键词：永磁吸附，履带，张紧程度，爬壁机器人 |
