CAJ | 학술논문

提出一种新型永磁吸附式爬壁机器人，采用三角形车身结构，两个三角履带前轮和一个万向后轮，适用于压力容器的圆柱形或球形壁面。利用Pro／E软件建立实体模型，将数据导入ADAMS软件中，并对其建立约束、定义材料属性和接触、添加驱动等完成动力学模型建立。以6 m／min的速度进行半径2 m的圆柱面爬行仿真和爬越5 mm余高焊缝仿真，并与传统四轮式机器人对比。仿真结果表明，该爬壁机器人可有效适应圆柱形壁面，与壁面贴合可靠，同时爬越焊缝时可大大减小冲击和振动。
제출일충신형영자흡부식파벽궤기인，채용삼각형차신결구，량개삼각리대전륜화일개만향후륜，괄용우압력용기적원주형혹구형벽면。이용Pro／E연건건립실체모형，장수거도입ADAMS연건중，병대기건립약속、정의재료속성화접촉、첨가구동등완성동역학모형건립。이6 m／min적속도진행반경2 m적원주면파행방진화파월5 mm여고한봉방진，병여전통사륜식궤기인대비。방진결과표명，해파벽궤기인가유효괄응원주형벽면，여벽면첩합가고，동시파월한봉시가대대감소충격화진동。
A new wall-climbing robot of permanent magnetic adsorption is presented. A triangular body structure was included in using with two triangular pedrail wheels and a universal wheel,which was suitable for cylindrical or spherical wall of pressure vessel. The solid model was established by using Pro/E software,than imported data into ADAMS software. Then its constraints were created, and the material properties and the contact,and adding driving force and etc. were defined to establish dynamics model. The two movement patterns were simulated as moving on a cylinder with a radius of 2 m and crossing over the welding line above 5 mm high at the speed of 6 m/min,and were compared with the traditional four-wheeled robot. Simulation results prove that the wall-climbing ro-bot can effectively adapt to the cylindrical wall,reliably absorb to wall surface,and dramatically reduce the shock and vibration while climbing over welding line.