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基于磁偶极理论的磁流变悬浮液中颗粒间法向磁吸引效应的微观机制

Micromechanism of interparticle normal magnetic attraction effect in magnetorheological suspensions based on magnetic-dipole theory.

作者信息

Wang Kejie, Dong Xiaomin, Hu Guoliang, Xiao Wei, Liu Qianjie

机构信息

School of Mechatronics and Vehicle Engineering, East China Jiaotong University, Nanchang, 330013, People's Republic of China.

State Key Laboratory of Mechanical Transmission for Advanced Equipment, Chongqing University, Chongqing, 400044, People's Republic of China.

出版信息

Sci Rep. 2024 Oct 24;14(1):25138. doi: 10.1038/s41598-024-77095-1.

DOI:10.1038/s41598-024-77095-1
PMID:39448779
原文链接:https://pmc.ncbi.nlm.nih.gov/articles/PMC11502776/
Abstract

In order to reveal adsorption-regulation micromechanism and debonding micromechanism between wall surface and magnetorheological (MR) wall-climbing robot legs, an interparticle normal magnetic attraction (NMA) mechanics model was constructed based upon the magnetic-dipole theory. According to analysis of NMA mechanics, it was confirmed that the interparticle NMA could be intensified with enhancing magnetic-particle diameter but was weakened with ratio of adjacent magnetic-particles distance to magnetic-particle radius. It means that the adhesive capacity between MR wall-climbing robot legs and wall surface could be strengthened by increasing magnetic-particle size and decreasing interparticle distance. Furthermore, it was found that the NMA of the first particle in the magnetic chain was positively related to magnetic-particles number until the magnetic-particles number reached a critical value. Consequently, the adsorption ability between MR wall-climbing robot legs and wall surface could be effectively controlled by changing magnetic-particles number. Besides, the strongest NMA appeared at the middle of the magnetic chain. However, the weakest NMA locates at both ends of the magnetic chain. Thus, it could be concluded that the end of the magnetic chain would be separated from wall surface rather than fracture occurred in the middle of the magnetic chain when the MR wall-climbing robot legs divorced from wall surface.

摘要

为揭示壁面与磁流变（MR）壁面攀爬机器人腿部之间的吸附调节微观机制和脱粘微观机制，基于磁偶极理论构建了颗粒间法向磁吸引力（NMA）力学模型。通过对NMA力学分析可知，颗粒间NMA会随着磁颗粒直径的增大而增强，但会随着相邻磁颗粒间距与磁颗粒半径之比的增大而减弱。这意味着可通过增大磁颗粒尺寸和减小颗粒间距来增强MR壁面攀爬机器人腿部与壁面之间的粘附能力。此外，还发现磁链中第一个颗粒的NMA与磁颗粒数量呈正相关，直至磁颗粒数量达到临界值。因此，通过改变磁颗粒数量可有效控制MR壁面攀爬机器人腿部与壁面之间的吸附能力。此外，最强的NMA出现在磁链中部，而最弱的NMA位于磁链两端。由此可以得出结论，当MR壁面攀爬机器人腿部与壁面分离时，磁链末端会与壁面分离，而非磁链中部发生断裂。

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