CAJ | 학술논문

针对爬壁机器人现有吸附方式的不足，提出一种电极吸附的新方法。对电极吸附技术的吸附机理进行分析，并根据爬壁机器人的应用特点，提出电极阵列式吸附结构——共面梳状交叉电极阵列。针对该阵列结构，基于有限元分析方法，构建吸附力输出模型，并结合量子粒子群优化算法，以电极吸附阵列吸附力输出的最大化为目标，对电极阵列布局的参数进行优化设计；在对电极阵列吸附力分布特性、击穿特性等性能进行分析的基础上，提出电极阵列结构优化设计方案，并采用MEMS技术，设计出了试验样版。为了验证电极吸附方法的有效性和所建模型的正确性，分别基于不同的材料基底(水泥墙、玻璃和木材)，进行吸附力测试试验，并基于电极吸附技术，设计单履带式攀爬机器人。试验数据及攀爬机器人的实际运行效果表明了电极吸附技术的有效性和先进性。
침대파벽궤기인현유흡부방식적불족，제출일충전겁흡부적신방법。대전겁흡부기술적흡부궤리진행분석，병근거파벽궤기인적응용특점，제출전겁진렬식흡부결구——공면소상교차전겁진렬。침대해진렬결구，기우유한원분석방법，구건흡부력수출모형，병결합양자입자군우화산법，이전겁흡부진렬흡부력수출적최대화위목표，대전겁진렬포국적삼수진행우화설계；재대전겁진렬흡부력분포특성、격천특성등성능진행분석적기출상，제출전겁진렬결구우화설계방안，병채용MEMS기술，설계출료시험양판。위료험증전겁흡부방법적유효성화소건모형적정학성，분별기우불동적재료기저(수니장、파리화목재)，진행흡부력측시시험，병기우전겁흡부기술，설계단리대식반파궤기인。시험수거급반파궤기인적실제운행효과표명료전겁흡부기술적유효성화선진성。
A novel electro-adhesion technology is presented for deficiency of existing adhesion methods. The mechanism of electro-adhesion is analyzed and the structure of planar combed interdigitated electrode array for climbing robots usage is presented based on the characteristics of climbing robot usage. With regard to the presented structure, the adhesion force output model is constructed with finite element analysis tool. The quantum particle swarm algorithm (QPSO) is used to optimize the parameters of the adhesion array for the maximal adhesion force output. The shape of electrode is also designed with regard to the force layout and dielectric characteristics of the whole array. With MEMS tech, a testing sample is designed and generated. In order to validate the effectiveness of electro-adhesion method, experiments were performed based on different substrates (concrete wall, glass and wood) and a single tracked climbing robot based on electro-adhesion caterpillar is designed. Experimental data and performance of the designed robot indicate effectiveness and advantage of the depicted method which can provide stable and robust adhesion foe climbing robot.