一种轻型斜拉桥缆索检测机器人的结构与动力学分析

A Kind of Light Cable-stayed Bridge Inspection Robot and Its Dynamic Analysis

针对目前迫切需要斜拉桥缆索检测自动化而设计的一种轻型缆索检测机器人,分析了总体结构方案和特点。在此基础上进行动力学分析,综合考虑机器人向上爬行和向下爬行的运动要求,推出了机器人的驱动条件和附着条件,并进行了电机初步计算。

Designed a kind of light cable inspection robot in order to meet the urgent need of the inspection of the cables of cablestayed bridge at present, and put forward its general structure and analyzed its characters. Based on this, entirely considering the motion demand when the robot climbs up and down the cable,it is analyzed the process of dynamic motion of the cable climbing robot, and deduced the robot＇s driving condition and adhesive condition.