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时间:2020-04-11
《双边轮式斜拉桥悬索检测机器人设计与分析_英文_.pdf》由会员上传分享,免费在线阅读,更多相关内容在教育资源-天天文库。
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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