桥梁缆索检测攀爬蛇形机器人的设计与实现

Design and Implementation of Climbing Snake-like Robot for Bridge Cable Detection

为了实现桥梁缆索缺陷的检测,针对桥梁缆索攀爬机器人进行研究,开发了一种适合桥梁缆索缺陷自动检测,具有强攀爬能力和高机动性的攀爬蛇形机器人。它由具有单自由度的模块组成,可根据缆索特征灵活增减模块数量实现手动重构。模块中的超大扭矩舵机、轻质铝合金机械构件和高摩擦系数的外皮等,增强了机器人的攀爬能力。模块正交连接与P-R连接结合应用,使得机器人可有效完成缆索攀爬运动和检测作业。设计一种主从分布式多级闭环运动控制系统,引入电池供电和扭矩限制,增强了机器人的机动性和对环境的适应能力。缆索模拟攀爬试验结果证明机器人具有很强的机动性和攀爬能力。

In order to achieve the detection of bridge cable defects, we conducted the research on bridge cable climbing robot, developed a climbing snake-like robot which has strong climbing ability and high mobility suitable for bridge cable automatic defect detection. It consists of modules with single degree of freedom, and the number of modules can be flexible increased or decreased to realize manually reconstructed according to the cable＇s feature. The ultra torque servo, lightweight aluminum mechanical components and friction skin with high coefficient in the module can enhance the robot＇s climbing ability. The robot can effectively complete cable climbing and testing operations because of the modules combined orthogonal connection with P-R connection. We designed a master-slave distributed multi-level closed-loop motion control system which introduced battery-power and torque limit to enhance the robot＇s mobility and ability to adapt to the environment. The experimental result of cable climbing imitation proves that the robot has powerful mobility and climbing ability.