| 双边轮式斜拉桥悬索检测机器人设计与分析(英文) |
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| 引用本文： | 徐丰羽,王兴松,许家林.双边轮式斜拉桥悬索检测机器人设计与分析(英文)[J].东南大学学报,2009,25(1). |
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| 作者姓名： | 徐丰羽 王兴松 许家林 |
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| 作者单位： | 东南大学机械工程学院,南京,211189
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| 基金项目： | 国家高技术研究发展计划(863计划) |
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| 摘 要： | 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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| 关 键 词： | 爬升机器人 节能回收 气体阻尼 悬索 斜拉桥 |
Design and analysis of a bisected wheel-based cable climbing robot |
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| 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). |
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| Authors: | Xu Fengyu Wang Xingsong Xu Jialin |
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| Institution: | School of Mechanical Engineering;Southeast University;Nanjing 211189;China |
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| 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 139mm 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 me... |
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| Keywords: | climbing robot energy-saving landing gas damper cable cable-stayed bridge |
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