The Analysis And Research On Magnetic Adhesion Caterpillar Cable-Climbing Robot

Climbing robots have become a hot research field as a substitute of humans to perform various dangerous duties.Such robots can climb cables and pipelines carrying equipment to replace manual inspection.For its broad market prospect,the research on robots climbing cables and pipelines is of great significant to humans.Through researching current applications of pipe climbing,cable climbing,and shaft-shaped robots,the article advances a general plan for a kind of tracked&magnetically adsorbed cable-climbing robot.Through 3D modeling software,a detailed design to robot structure was conducted.The static and dynamic analysis was carried out by ANSYS software(of finite element analysis)for important parts.The analysis checked the structural strength of key components.Then the key technology of magnetic adsorption track is studied.With magnetic analysis to the permanent magnets,three plans for magnetic pole distribution of magnet units were designed and the magnetic force of single magnetic unit was calculated by theoretical study.Drawing on the finite element electromagnetic analysis platform in ANSYS Workbench,the research analyzed the magnetic simulation of different pole arrangements and selected the best plan.Besides,through measuring intensity of magnetizations of permanent magnets,our analysis on the theory of absorption unit magnetic field and finite element were proved correct and feasible.Comparing with the actual measured experimental data,the error of the other two methods of calculating the magnetic force is obtained.In the end,the magnetic induction density on permanent magnet surface was measured,which led to the finding of distribution rule of magnetic induction density of permanent magnets.Finally,the mechanical analysis on unilateral and bilateral structures was carried out on the climbing robots of different stances.It also analyzed all possible overturns and obtained all driving torques in need through dynamic mechanical analysis.Simulated climbing robots were built in ADAMS software and analysis on its simulated motion was given to testify the possibility of climbing,laying a foundation for further experiment.Model analysis was given for bracket and its track to test its frequency and vibration modes.This provided a reference for avoiding significant vibration of the mechanism,as well as providing the basis and basis for the next experimental analysis.This paper provides a reference and design basis for the subsequent research and development of magnetically adsorbed climbing robots.