中文摘要：

介绍了一种全方位微型轮式爬壁机器人.将轴向磁通电磁微马达与永磁轮集成在一起,实现驱动吸附一体化设计.采用一套转向齿轮和三个永磁轮,设计了全方位的爬壁机构.通过动力学分析,导出微机器人爬壁所需的力矩和磁力,并结合永磁轮自身的设计约束,采用ANSOFT和Pro/Engineer仿真对其尺寸进行了优化,从而在相同负载的情况下降低了不必要的力矩损耗.仿真计算和实验结果证明了上述方法的可行性.

英文摘要：

An omni-directional wall-climbing wheeled microrobot is presented.The integral design with driver and adhesive 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 microrobot remains the same.The simulation and experimental results demonstrate the feasibility of these concepts.