电磁微马达驱动全方位永磁轮式爬壁微机器人-中国机械工程.PDF

33 6 ROBOT Vol.33, No.6 2011 11 Nov., 2011 DOI 10.3724/SP.J.1218.2011.00712 200030 ANSOFT Pro/Engineer TP242 A 1002-0446(2011)-06-0712-07 An Omni-directional Wall-climbing Microrobot with Permanent-magnetic Wheels Actuated by Electromagnetic Micromotors ZHANG Dawei CHEN Jiapin LI Zhenbo (Key Laboratory for Thin Film and Microfabrication of Ministry of Education, Research Institute of Micro/Nano Science and Technology, Shanghai Jiao Tong University, Shanghai 200030, China) Abstract: An omni-directional wall-climbing wheeled microrobot is presented. The integral design with driver and ad- hesive is realized by integrating the axial flux electromagnetic micromotor and the permanent-magnetic wheel. An omni- directional wall-climbing mechanism is designed by using a set of steering gears and three standard permanent-magnetic wheels. The required torque and magnetic force for the movement of the microrobot are derived by dynamic analysis. The sizes of permanent-magnetic wheels are optimized in combination with their own design constraints by ANSOFT and Pro/Engineer simulation, so as to reduce the unnecessary torque consumption under the condition that the load of the micro- robot remains the same. The simulation and experimental results demonstrate the feasibility of these concepts. Keywords: wall-climbing microrobot; permanent-magnetic wheel; omni-directional; electromagnetic micromotor; opti- mization 3 1 Introduction