基于蛇形机器人桥梁缆索无损检测系统的研究

Study on non-destructive inspection system for bridge cables based on snake-like robot

基于桥梁缆索无损检测的特殊性,且针对目前桥梁缆索检测智能化的需要,介绍了一种新型的检测系统,即基于桥梁缆索检测的蛇形机器人。此蛇形机器人具有较大的自由度,有非常好的环境适应能力。在分析蛇形机器人的本体结构特点和运动机理的基础上,并根据桥梁缆索的特性,研究了基于蛇形的器人桥梁缆索的无损检测系统。通过实验证明:此无损检测系统能较好地对桥梁缆索进行检测,体现出了其灵活性和高效率的优势和很好的应用前景。

Based on the specialization of bridge non-destructive inspection and aimed at the need of inspection intelligence,a very novel inspection system which is based on snake-like robot is introduced.This robot has a number of degrees of freedom and can adapt environment well.The body structure and the gait law of the snake-like robot is analyzed,and the inspection system is studied on the basis of specialization of bridge cables.The experimental results show the non-destructive inspection system can inspect the bridge cables well.The system demonstrates the advantages of flexibility,high efficiency and good prospects.