摘要
为了实现对桥梁缆索进行表面缺陷检测,提出一种缆索检测攀爬蛇形机器人控制系统的整体设计方法,介绍了系统的整体架构,包括无线控制系统、视觉传输检测系统和下位机蛇形机器人的结构及其运动控制系统。运用Adams机械系统仿真软件验证了正交关节蛇形机器人螺旋攀爬运动控制模型的有效性,另外缆索攀爬模拟实验结果证明本系统设计的合理性和有效性。
In order to realize the detection of bridge cable defects,the paper introduces the integrated design of climbing snake robot control system for bridge cable detection,introduced the integrated framework of the system,in- cluding the wireless control system,the visual inspection and transmission system,the structure of the snake robot and the motion control system. The orthogonal joints spiral climb movement control model was proved to be effective with the mechanical system simulation software Adams. Besides,the cable-imitate climbing experimental results testify that the integrated design of the system was sound.
出处
《自动化与仪表》
北大核心
2013年第12期9-12,共4页
Automation & Instrumentation
基金
交通运输部西部交通建设科技项目(B1110210)
