The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

被引:10
|
作者
Xu, Fengyu [1 ,2 ]
Jiang, Quansheng [3 ]
Lv, Fan [1 ]
Wu, Mingliang [4 ]
Zhang, Laixi [4 ]
机构
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210003, Jiangsu, Peoples R China
[2] Harbin Inst Technol, State Key Lab Robot & Syst HIT, Harbin 150001, Heilongjiang, Peoples R China
[3] Suzhou Univ Sci & Technol, Sch Mech Engn, Suzhou 215009, Peoples R China
[4] Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Gansu, Peoples R China
来源
APPLIED SCIENCES-BASEL | 2018年 / 8卷 / 11期
基金
中国国家自然科学基金;
关键词
climbing robot; safety recovery mechanism; cable detection; dynamic coupling analysis; INSPECTION ROBOT; CABLE; DESIGN;
D O I
10.3390/app8112123
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
Cable is one of the most important parts on cable-stayed bridges. Its safety is very important. The aim of this study is to design an all-wheel-drive climbing robot based on safety recovery mechanism model for automatic inspection of bridge cables. For this purpose, a model of a three-wheel-drive climbing robot with high-altitude safety recovery mechanism is constructed and the basic performances such as climbing ability and anti-skidding properties are analyzed. Secondly, by employing the finite element method, natural frequency of the robot is calculated and that of a cable with concentrated masses is obtained through use of the Rayleigh quotient. Based on the mentioned quantities, the dynamic characteristics of the robot-cable system are further analyzed. In order to verify the climbing ability of the designed robot, a prototype of the robot is made, a robot testing platform is established and the climbing & loading experiments of the robot are carried out. The experiment results illustrated that the robot can carry a payload of 10 kg and safely return along the cable under the influences of inertial force.
引用
收藏
页数:17
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