缆索Ⅰ号机器人样机爬升机构的分析及试验

Experiments and Analysis of Climbing Mechanisms of Cable-Ⅰ Robot

高空缆索的有效维护一直是困扰斜拉桥管理者的问题。提出了采用缆索维护机器人来实现对缆索的自动维护。通过不同爬升机构模型的分析及试验，研制了适于螺旋六棱柱缆索爬升的缆索Ⅰ号机器人样机,解决了机器人在任意倾斜度缆索上爬升的难题，为特种机器人在极限环境中的应用开辟了新的领域。

：Concerning the difficulties of maintaining cables of cable-stayed bridge,the authors put forward cable robots used to maitain the cabl es automatically.Based on designing the climbing mechanism at different phases, climbing mechanism of cable-Ⅰ Robot fit for cable of helix prism has been deve loped at home and abroad firstly. It overcomes difficulties of robot climbing alo ng cables at any angle,and opens a new domain for applications of special robots in limited conditions.