蛇形机器人在缆索检测中螺旋滚动步态的研究

Research of helical rolling gait of snake-like robot in detection of bridge cables

提出了一种检测桥梁缆索的方式,利用蛇形机器人在缆索上螺旋滚动步态的优点,检测缆索表面和内部损伤,克服传统的桥梁缆索检测方法的不足。研究了蛇形机器在缆索上螺旋滚动步态的实现,确定了螺旋滚动曲线的参数与蛇形机器人螺旋滚动姿态的关系。通过参数的调整和优化,使蛇形机器人既不会抱得过紧而损伤缆索,而降低蛇形机器人的运行速度和消耗蛇形机器人更多能量,又不会抱得太松而使蛇形机器人从缆索上滑落,而降低蛇形机器人在缆索上运动的安全性。最后通过Webots仿真软件的模拟真实环境,表明了蛇形机器人可以在桥梁缆索上实现螺旋运动,且螺旋运动可以适应不同直径的缆索,通过改变参数,可优化和调整蛇形机器人的螺旋形状,使蛇形机器人模块选择灵活、运动的安全和高效。

A new method of detection of bridge cables is presented. Snake-like robot which has an advantage of climbing the cablestayed using helical rolling gait, detects the cable surface and internal micro damage, and can overcome the shortcomings of the traditional detection method for bridge cables. A implementation of snake-like robot helical gait is introduced and this relationship between parameters of helical curve and attitude of snake-like robot is determined. Snake-like robot holds the cable neither tight nor loose through ad- justing and optimizing the parameters, so it can safe and efficient detect cable-stayed. At last, we confirm the feasibility of detection of snake-like robot in the Webots virtual reality environment, and it can adapt to climb different diameters cable. Snake-like robot can change the spiral shape by optimizing and adjusting the parameters. As result, it could be flexible, safe and efficient movement.