双边轮式斜拉桥悬索检测机器人设计与分析_英文_.pdf

双边轮式斜拉桥悬索检测机器人设计与分析_英文_.pdf

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1、JournalofSoutheastUniversity(EnglishEdition)Vo.l25,No.1,pp.41-46Mar.2009ISSN1003)7985Designandanalysisofabisectedwheel2basedcableclimbingrobotXuFengyuWangXingsongXuJialin(SchoolofMechanicalEngineering,SoutheastUniversity,Nanjing211189,China)Abstract:Toinspe

2、ctinnerwiresofthecylindricalcablesonaseveralformsofadhesionmethods:cable2stayedbridge,anewbisectedwheel2basedcableclimbing1)Magneticmechanismsforclimbingonferroussur2[8]robotisdesigned.Thesimplestructureandthemovingmodearefacesviaelectromagnetsorpermanentma

3、gnets;describedandthestaticfeaturesoftherobotareanalyzed.A2)Vacuumsuctiontechnologiesforstickingtheroboton[9210]cablewithadiameterof139mmisselectedasanexampletothewalls;calculatethedesignparametersoftherobo.tForsafetyenergy23)Grippersorarmedmechanismsthatat

4、tachtothe[11]savinglandinginthecaseofelectricalsystemfailure,anelectricstructuresuchasbeams,columns,pipesandtubes.damperbasedonbackelectromotiveforceandagasdamperwithAccordingtothemodesoflocomotion,climbingrobotsaslider2crankmechanismareintroducedtoexhaustt

5、heenergycanbeclassifiedintothreemaingroups:generatedbygravitywhentherobotisslippingdownalongthe1)Wheel2drivenmachinesclimbverticalplanesbycom2cables.Asimplifiedmathematicalmodelisanalyzedandthebiningwheelsfortranslation,andbymagnetsorvacuum[12]landingveloci

6、tyissimulated.Forthepresentdesign,therobotcansuctionforsurfaceattachment;[13]climbupacablewithdiametersvaryingfrom65to205mmwith2)Leggedclimbingrobotsconsistusuallyoffourorpayloadsbelow315kg.Severalclimbingexperimentsperformedsixlegs,eachofthemwithmagnetsora

7、vacuumpumpforonrealcablesconfirmthattheproposedrobotmeetsthedemandsattachmentbutwithlimitedmaneuverability;ofinspection.3)Locomotionbasedonarmswithgrippersorotherde2[14]Keywords:climbingrobo;tenergy2savinglanding;gasdamper;vicesthatprovidetherobotwithskillf

8、ulmobility.cable;cable2stayedbridgeTheclimbingrobotproposedinthispaperutilizesaspringtoprovidefrictionforcestosupportthewholeroboticsystem.WiththedrivingwheelactuatedbyapowerfulDClmibingrobotshavevario

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