Design of spring-suspended suction cup based on the air inflow change with inside negative pressure
Design of spring-suspended suction cup based on the air inflow change with inside negative pressure
复制标题
基于进气量随内部负压变化的弹簧悬挂吸盘设计
DOI：
10.1109/iros.2016.7759848
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
Shugen Ma
中科院分区：
文献类型：
--
作者：
Takahiro Matsuno;Shugen Ma
通过几种吸附机制，大多数吸附机制可以维持泵或其他执行器的吸收，从而提高了在墙壁上工作的安全性。本研究提出了一种替代方法（弹簧悬挂吸盘与弯曲板弹簧），可以附着在没有任何真空泵系统的长时间。分析了弹簧悬浮吸盘的负压，并通过吸盘的能量效率和长吸附次数的力来评价板弹簧的屈曲性能。计算了吸盘的粘附时间，并与体积固定吸盘的粘附时间进行了比较。在高进气量条件下，弹簧悬浮吸盘比固定体积吸盘粘附在试验表面的时间更长。在已研制的样机上进行了试验，验证了弹簧悬挂吸盘的优点。
The safety of working on walls has been improved by several adsorption mechanisms most of which sustain the absorption by pumps or other actuators. This research proposes an alternative method (a spring-suspended suction cup with a buckled plate spring) that can be attached for long durations without any vacuum pumping system. The negative pressure of the spring suspended suction cup is analyzed and the buckled plate spring is appraised by the energy efficiency and force over long adsorption times of the suction cup. The adhesion time of the suction cup is calculated and compared with that of the volume-fixed suction cup. Under high air inflow conditions, the spring-suspended suction cup adhered to the test surface for longer than the fixed-volume cup. The advantages of the spring-suspended suction cup were verified in experiments on a developed prototype.