摘要
针对负压吸附式擦玻璃机器人(WCR),提出在泄漏条件下的负压腔(NPC)流体模型建立方法,并进行仿真分析和实验验证。对擦玻璃机器人进行静力学分析,得到机器人安全吸附在玻璃表面的负压值;由于负压腔与玻璃之间存在气隙,建立泄漏条件下的负压腔流体模型,将负压系统简化为RC等效电路,负压响应特性为惯性环节。最后对负压腔流体模型进行计算流体力学仿真,通过实验测定负压腔的压力分布,验证了负压腔流体模型的准确性。通过提出一种负压系统分析方法,为采用负压吸附方式的擦玻璃机器人提供了设计依据。
The flow field and adhesive force,at the atmospheric negative pressure pumped by a centrifugal fan,in the air gap between the negative pressure cavity（ NPC） and widow-glass of a window cleaning robot（ WCR）,were mathematically modeled,theoretically analyzed in fluid dynamics,numerically simulated with software Matlab and CFD,and experimentally evaluated. The impact of the properties of centrifugal fan,including but not limited to the inlet pressure,pumping speed,viscosity and flow-resistance,on the response time and stability of the negative pressure in NPC was calculated by means of a RC equivalent-circuit approximation. The good agreement,between the simulated and measured results,shows that the proposed fluid model is capable of accurately describing the fluid field. We suggest that the novel fluid model be of some technological interest in design optimization of WCR.
出处
《真空科学与技术学报》
CSCD
北大核心
2017年第4期357-362,共6页
Chinese Journal of Vacuum Science and Technology
基金
机器人学国家重点实验室基金课题(401385)
关键词
擦玻璃机器人
履带驱动
负压吸附
RC等效电路
Window cleaning robot
Track drive
Negative pressure adsorption
RC equivalent circuit
