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

页数：17