摘要
本文对应用于静电吸附式爬壁机器人这一特殊领域的静电吸附原理进行分析,对静电力进行数学解析建模,通过施瓦兹-克里斯托菲数学变换重点分析影响梳状电极吸附力的结构因素,并借助Ansoft软件求解出不同占空比下的电极电容矩阵,最后通对设计的柔性板梳状电极进行实际实验测试,验证静电吸附在爬壁机器人应用上的可靠性。
This paper includes an illustration of the electrostatic adhesion mechanism which is applied in the particular area of wall climbing robots.The adhesion mechanism of electrostatic adhesion technology will be researched at the beginning,then,the theoretical attraction force model between the electrodes and wall is built.Through the principle of virtual work,the paper obtains a mathematical expression of electrostatic adhesion,and for more complexity,makes a specific investigation of double electrodes type,which is the base of comb-shaped electrodes.Schwarz-Christoffel transform will be utilized in this part,and it is an effective method in dealing with non-uniform electric field.Next,Matlab software is used to analyze the key factors which affect the adsorption strength in the electrodes.To illustrate the problem further,a simulation of voltage between the electrodes is done.Finally,to verify this adhesive function,an experiment with comb-shaped electrodes is done,from which it can be concluded that electrostatic adhesion can be a large attraction power in wall-climbing robots application.
出处
《电工电能新技术》
CSCD
北大核心
2012年第1期64-68,共5页
Advanced Technology of Electrical Engineering and Energy
关键词
爬壁机器人
静电吸附
施瓦兹-克里斯托菲变换
梳状电极
wall climbing robot
electrostatic adhesion
Schwarz-Christoffel transform
comb-shaped electrodes
