摘要
以实现缆索无损检测为目的,提出了一种用于携带缆索检测仪器的新型缆索爬行机器人的本体结构方案。机器人整体采用框架式的结构,其最主要的特点是实现了机器人爬行状态下调节抱缆力的功能。建立了抱缆力调整装置的数学模型。在AD.AMS中进行了动力学仿真分析,得到了机器人的动力学特种曲线。
In order to realize the cable＇s nondestructive testing, this paper proposed a new cable climbing robot used for cable testing instrument to carry the ontology structure scheme. Robot overall adopted frame type structure, its main characteristic was to realize the robot crawling state regulate the function of the cable force. Established the mathematical model of the cable force adjusting device, analyzed dynamic simulation in ADAMS, and got the dynamics of the robot＇s special curve.
出处
《机电工程技术》
2014年第4期25-29,共5页
Mechanical & Electrical Engineering Technology
关键词
缆索爬行机器人
抱缆力调节
动力学仿真
cable climbing robot
cable force adjustment
dynamics simulation
