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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。
Aiming at negative pressure adsorption wiping glass robot (WCR), a method of establishing negative pressure cavity (NPC) fluid model under leakage condition is proposed, and the simulation analysis and experimental verification are carried out. The statics analysis of the glass-wiping robot can obtain the negative pressure of the robot safely adsorbed on the glass surface. Because of the air gap between the negative pressure chamber and the glass, the negative pressure fluid model under the leak condition is established, and the negative pressure system is simplified to RC equivalent circuit, negative pressure response for the inertia. Finally, the computational fluid dynamics simulation of the negative pressure fluid model was carried out. The pressure distribution in the negative pressure fluid chamber was determined experimentally to verify the accuracy of the negative pressure fluid model. By presenting a method of negative pressure system analysis, a design basis is provided for a glass-wiping robot adopting negative pressure adsorption.