[1] Xu Fengyu, Wang Xingsong, Xu Jialin,. Design and analysis of a bisected wheel-based cable climbing robot [J]. Journal of Southeast University (English Edition), 2009, 25 (1): 41-46. [doi:10.3969/j.issn.1003-7985.2009.01.010]
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Design and analysis of a bisected wheel-based cable climbing robot(
)
双边轮式斜拉桥悬索检测机器人设计与分析
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 25
- Issue:
- 2009 1
- Page:
- 41-46
- Research Field:
- Automation
- Publishing date:
- 2009-03-30
Info
- Title:
- Design and analysis of a bisected wheel-based cable climbing robot
- 双边轮式斜拉桥悬索检测机器人设计与分析
- Author(s):
- Xu Fengyu; Wang Xingsong; Xu Jialin
- School of Mechanical Engineering, Southeast University, Nanjing 211189, China
- Keywords:
- climbing robot; energy-saving landing; gas damper; cable; cable-stayed bridge
- PACS:
- TP242.3
- DOI:
- 10.3969/j.issn.1003-7985.2009.01.010
- Abstract:
- To inspect inner wires of the cylindrical cables on a cable-stayed bridge, a new bisected wheel-based cable climbing robot is designed.The simple structure and the moving mode are described and the static features of the robot are analyzed.A cable with a diameter of 139 mm is selected as an example to calculate the design parameters of the robot.For safety energy-saving landing in the case of electrical system failure, an electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables.A simplified mathematical model is analyzed and the landing velocity is simulated.For the present design, the robot can climb up a cable with diameters varying from 65 to 205 mm with payloads below 3.5 kg.Several climbing experiments performed on real cables confirm that the proposed robot meets the demands of inspection.
- 为了检测斜拉桥圆柱形悬索内部钢丝情况, 设计了一种新型的双边轮式悬索爬升机器人, 简述了其机械结构及运动方式, 建立了爬升模型, 分析了其机构的静态特性, 并以直径为139 mm的悬索为例给出了相关设计参数.为使机构在电路系统故障时能安全回收, 提出了一种基于反电动势理论的安全节能回收方法, 应用曲柄滑块驱动气缸设计了气体阻尼机构, 以消耗机构下降时因重力作用产生的多余动能, 并建立了机构数学模型来仿真下降速度.试验结果表明, 所设计的机器人能携带3.5 kg重物沿直径为65~205 mm的悬索平稳运行, 满足了悬索检测的实用要求.
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Memo
- Memo:
-
Biographies: Xu Fengyu(1979—), male, graduate;Wang Xingsong(corresponding author), male, doctor, professor, xswang@seu.edu.cn.
Foundation item: The National High Technology Research and Development Program of China(863 Program)(No.2006AA04Z234).
Citation: Xu Fengyu, Wang Xingsong, Xu Jialin.Design and analysis of a bisected wheel-based cable climbing robot[J].Journal of Southeast University(English Edition), 2009, 25(1):41-46.