论文部分内容阅读
根据船舶密闭舱室钢架结构特点,设计了永磁吸附爬壁机器人。运用Solidworks对机器人本体结构进行了设计,采用有限元法对磁吸附力进行分析,通过单片机控制及无线芯片收发信号,实现对机器人遥控。试验结果表明,在复杂的空间曲面上,机器人能可靠的吸附与灵活运动,因此可按需要搭载相关检测设备进入船舶密闭舱室进行检测。
According to the structural characteristics of the ship airtight steel frame, designed permanent magnet adsorption wall climbing robot. Solidworks was used to design the structure of the robot body. The finite element method was used to analyze the magnetic attraction force. The robot remote control was realized through the control of the single chip computer and the wireless chip sending and receiving signals. The experimental results show that the robot can reliably adsorb and flexibly move on the complex space surface. Therefore, it can carry the relevant testing equipment into the airtight cabin of the ship for testing as needed.