A Wheel-Based Cable Climbing Robot With Descending Speed Restriction

被引：2
|
作者：
Xu, Fengyu [1 ]
Wang, Xingsong [1 ]
机构：
[1] Southeast Univ, Sch Mech Engn, Nanjing 211189, Peoples R China
来源：
2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年
关键词：
Cable-stayed bridge; climbing robot; slider-crank mechanism; gas damper;
D O I：
10.1109/CCDC.2008.4597581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new wheel-based cable climbing robot which is able to climb up the vertical cylindrical cable on the cable-stayed bridge was proposed. Unlike the previous one, the new designed robot proposed in this paper is composed of two equally spaced modules, which are joined by connecting bars to form a closed hexagonal body to clasp on the cable. The static features of the robot were analyzed and the balanced torque of the mechanism was given. For the present design, it can climb up a cable with diameters varying from 65mm, to 205mm with payloads below 3.5kg. A cable with a diameter of 139mm was selected as an example to calculate the parameters of the robot. For the safety landing in case of electricity broken-down, a gas damper with a slider-crank mechanism is introduced to exhaust the energy generated by the gravity when the robot is slipping down along the cables. The landing system is tested experimentally and a simplified mathematical model is analyzed. Several climbing experiments performed on real cables show the capability of the proposed robot.
引用
收藏
页码：1570 / 1575
页数：6
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