33 4

2011 7

Vol.33, No.4
Jul., 2011

ROBOT

DOI10.3724/SP.J.1218.2011.00405

1 1 1 2 2
1. 200240 2.

213100

ANSYS
ADAMS

ANSYSADAMS
TP24
B
1002-0446(2011)-04-0405-06

Structure Design and Weld Seam Surmounting Characteristic of a Wall-climbing

Robot with Variable Magnetic Adsorption Force Device
WEN Jing1 DUN Xiangming1 MIAO Songhua1 DUN Xiangyong2 SHAN Lei2
(1. Research Institute of Robotics, Shanghai Jiaotong University, Shanghai 200240, China;
2. Changzhou Yuanliang Robot Technology Co., Ltd, Changzhou 213100, China)

Abstract: To improve reliability and security of the oil tank inspection operation, a wall-climbing robot mechanism with
variable magnetic adsorption device is proposed and its weld seam surmounting characteristic is studied. Firstly, The ANSYS
platform is used to carry out simulation analysis on the variable magnetic adsorption device, and the magnetic flux density
distribution and magnetic adsorption force of the robot body are gotten. Then, a dynamic model of the weld seam surmounting
process is established. The ADAMS is used to carry out dynamics simulations, and the variation curve of magnetic adsorption
force during the course is gotten. The reasonableness and practicality of the proposed structure are verified by analysis.
Keywords: wall-climbing robot; variable magnetic force; weld seam; ANSYS; ADAMS simulation

1 Introduction

[1]

Sung
MRWALLSPECT
3
[2] Kalra

[3] Fischer

[4]

BE2010054
wenj802@163.com
2010-10-11/2010-12-20/2011-03-20

406

2011 7

2
12

CCD
[6 - 7]
1

Fig.1 Engineering prototype of the wall-climbing robot

2 Structure design of
robotic systems
2.1

Fig.2 Body structure of the robot

3 mm 5 mm

[5]

2.2

2 1 2

3 4

CCD

2 2

 33 4

407

[8]

H = J
B = 0

(1)

3
Fig.3

Absorbing structure with variable magnetic force

(1)
A (rr )

B = A

(2)

1
A = J

(3)

.
A = 0 (3)

2 A = J

30 mm

(4)

(1)
H = 0

Magnetic field analysis

and simulation

(5)

(5)

ANSYS

2 A

3.1
ANSYS

A
= J
2

1 ( A )
1 ( A )

+
= J

z z

A ( , z) | = A (rr )
L

(6)

(7)

C/m3rr b
A0 A
A( , z) |L
A

408

3.2

2011 7

[9]

F=

1 ww 2
B ds
20

(8)

B-H

Q345
3.3
4

Fig.5 Distribution of magnetic flux density

[10]

160 mm 4

ANSYS

B1 + B2 + + Bn
B=
n

HT210

(9)

6.7 mT

Fig.6 Comparison of the results

6 (3) (8)
4
Fig.4 Distribution of magnetic lines

5
B

0.612 T

12

Weld seam surmount-

ing characteristic analysis

 33 4

2
2

4.1

409

mxm = N1 + N2 + N cos + N sin mg

mym = N cos N1 N2 N sin + N1 ym +

N2 ym + N(l cos 0 +h)+N(AR+l sin 0 )

N1 [L cos( 0 )/2 l1 sin( 0 )]+

N2 [L cos( 0 )/2 + l2 sin( 0 )]
= J

2
3
7 m
J R
L h l1 l2
l
0
H
r
7

A v a

x = r sin + (A R) cos

m
(l + h cos 0 ) sin( 0 ) h sin 0

y = (l + h cos ) cos( ) + R sin

m
0
0

Fig.7 Dynamic model

xm = [r cos + (A R) sin +

(l + h) cos( 0 )] +

[r sin (A R) cos +

(l + h) sin( 0 )] 2

2v sin + a cos

ym = [(l + h) cos( 0 ) + R sin ] 2 +

[R cos (l + h) sin( 0 )]
7

D
max

max = 0 + arcsin(2D/L)
4.2

3 89

r cos r + H = (2R A) sin

567 N

[(2R A) sin r cos ] 2 + 2v cos + a sin

=
r sin + (2R A) cos

410

8
Fig.8

2011 7

Absorption force variation curve in the ascent stage

11
Fig.11

Magnetic field variation curve in the ascent stage

Conclusion

9
Fig.9

Friction force variation curve in the ascent stage

4.3

10
0 = 6
11

ANSYS

ADAMS

References

[1]

[2]

[3]

[4]

[5]

10
Fig.10

Test platform

[D]2007
Liu B. The testing system of the leak oilcan[D]. Beijing: Beijing
University of Technology, 2007.
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with closed link mechanism[C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. Piscataway, NJ,
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Kalra L P, Guf J, Max M. A wall climbing robot for oil
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Fischer W, Tache F, Siegwart R. Inspection system for very thin
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