爬壁机器人履带吸盘的多体渐变磁化系统设计

介绍了基于多体渐变磁化系统理论研究设计的有别于传统普通吸盘结构的爬壁机器人履带吸盘结构。根据稀土永磁履带吸盘结构和性能特点， 建立了履带吸盘的简化模型和吸盘与金属壁面间隙工作空间的镜像模型。基于以上模型和稀土永磁体内部磁化强度与均匀分布的特性，推导出间隙工作空间在y方向的磁场强度的多次谐波方程表达式，证明该结构的吸盘比传统普通吸盘有更良好的磁场性能。通过对比实验验证，该履带吸盘的吸力比普通吸盘大得多，完全能满足爬壁机器人爬行性能的要求。

Design of the Wall-Climbing Robot's Tracked Sucker Based on Multi-Body Magnetic Gradual Alternate System

A new structure of the wall climbing robot's tracked sucker was designed based on multi body magnetic gradual alternate system. Based on the characters of the sucker's structure and the capability of the rare earth magnetic material, a mirror model was obtained about the working air gap between the tracked sucker and the wall surface. Based on the even distribution of the inner magnetization of the rare earth magnetic material, the multi harmonic formula of the gap in y direction was also established, which indicates that the new structure sucker has a better capability than the normal one. It is proved that the magnetic force of the tracked sucker is much larger than that of the normal one, it fulfils the requirement of the wall climbing robot moving safely on the wall surface.