摘要
针对斜拉桥缆索检测专用机器人的安全回收要求,提出了一种基于反电动势理论的安全节能回收方法.应用曲柄滑块机构驱动气缸设计了气体阻尼装置,以消耗机器人下降过程中因重力作用产生的多余动能.建立了机构数学模型,并对下降速度进行了仿真.进行了实验室及长江某斜拉桥现场试验.试验结果表明机器人能够携带3.5 kg重物,沿直径为65～205 mm、倾角为30°～90°的缆索自动平稳匀速下滑,实现了电路系统出现故障时机器人的安全快速回收.
In order to safely reclaim the special cable inspection robot for cable-stayed bridge, an energy-saving reclaiming method based on back electromotive force is proposed. Based on the slider-crank mechanism driven pneumatic cylinder, a gas damper is designed to exhaust the extra energy generated by gravity when the robot is slipping down. A mathematical model is built and the landing velocity is simulated. Experiments have been made both in laboratory and on a cable-stayed bridge over Yangtse River. The experiment results show that the robot can carry a payload of 3.5 kg and slide down steadily and safely along the cables of which the diameters vary from 65 mm to 205 mm and the slant angles vary from 30°to 90°, so safely reclaiming in case of electrical malfunction can be realized.
出处
《机器人》
EI
CSCD
北大核心
2008年第5期447-452,共6页
Robot
基金
国家863计划资助项目(2006AA04Z234)
关键词
斜拉桥
爬升机器人
反电动势
气体阻尼
cable-stayed bridge
climbing robot
back electromotive force
gas damper
