东南大学学报（英文版）2009，Vol.25Issue(1)：41-46,6.
双边轮式斜拉桥悬索检测机器人设计与分析
Design and analysis of a bisected wheel-based cable climbing robot
摘要
Abstract
To inspect inner Wiles 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 139 mm 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,all electric damper based on back electromotive force and a gas damper with a slider-crank mechanism are introduced to exhaust the energy generated by gravity when the robot is slipping down along the cables.A simplified mathematical model is analyzed and the landing velocity is simulated.For the present design,the robot can climb up a cable with diarneters varying from 65 to 205 mm with payloads below 3.5 kg.Several climbing experiments performed On real cables confirm that the proposed robot meets the demands of inspection.关键词
爬升机器人/节能回收/气体阻尼/悬索/斜拉桥Key words
climbing robot/energy-saving landing/gas damper/cable/cable-stayed bridge分类
信息技术与安全科学引用本文复制引用
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[J].东南大学学报（英文版）,2009,25(1):41-46,6.基金项目
The National High Technology Research and Develop-ment Program of China(863 Program)(No.2006AA04Z234). （863 Program）
