Research On Structural Innovation Design And Attitude Tracking Control Of Non-contact Variable Magnetic Absorption Pipe Climbing Robot

The adsorption mechanism of magnetic adsorption climbing robot adopts fixed shape permanent magnet or electromagnet to provide magnetic adsorption force.However,due to the sensitivity of magnetic adsorption force to magnetic gap,when the robot works on the curved pipe,the uneven change of magnetic gap will lead to the violent fluctuation of magnetic adsorption force,resulting in the decrease of adsorption stability of climbing robot and so on.Therefore,this paper designed a non-contact magnetic gap adsorption pipe climbing robot,its main research content is as follows:1.Aiming at different diameter pipes,an approximate arc mechanism with diameter adaptive ability is designed.Firstly,the kinematics model of two-degree-of-freedom series-connected approximate arc mechanism is established.Then,the magnetic field distribution model,magnetic adsorption force model and dynamic model of pipe climbing robot are constructed by using vector magnetic position method,finite element simulation method and equilibrium equation of space force system.Finally,based on the theoretical model of magnetic field and magnetic adsorption force and the simulation calculation of MAXWELL,the optimal magnet width interval and the minimum magnetic adsorption force needed by climbing robot are obtained by multiple iterative calculations of discrete combination method.2.In order to adapt to different diameters and surfaces,the method of cubic polynomial difference is used for trajectory planning and attitude control of approximate arc mechanism.The automatic adjustment of diameter and adjustment of magnetic gap are realized by variable domain fuzzy control algorithm.An automatic diameter detection algorithm is proposed to control attitude by adaptive fuzzy sliding mode control algorithm.Finally,based on the theoretical model of magnetic field and magnetic adsorption force,the optimal magnet width interval and the minimum magnetic adsorption force needed by climbing robot are obtained by simulation of the MAXWELL of discrete combination method.