[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()

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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

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.

References:

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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.

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