摘要
缆索护套损伤是影响桥梁缆索服役寿命的重要原因之一,现有缆索外观检测方法不能满足快速检测的工程应用需求。研制了一种携带方便、安装快捷的缆索外观检测机器人,对机器人进行了爬升动力学分析,给出了电机和减速机详细的选型计算过程,并对机器人结构件进行了有限元分析。试验结果表明,便携式缆索机器人质量和攀爬速度达到了设计要求,可在垂直和倾斜缆索上平稳运行。
The damage of cable sheath is one of the important reasons for the durability of cable systems.The existing inspection methods of cable appearance cannot meet the need of engineering applications.A kind of portable and installed quickly cable inspection robot is introduced in this paper.The selection of robot dynamics analysis,motor reducer,the finite element analysis on the robot platform are also included.The test results show that the mass and climbing speed of the portable cable robot meet the design requirements and can run smoothly on vertical and inclined cables.
作者
元小强
丁宁
张涛
郑振粮
Yuan Xiaoqiang;Ding Ning;Zhang Tao;Zheng Zhenliang(Institute of Robotics and Intelligent Manufacturing,The Chinese University of Hong Kong(Shenzhen),Guangdong Shenzhen,518172,China)
出处
《机械设计与制造工程》
2019年第6期32-36,共5页
Machine Design and Manufacturing Engineering
基金
深圳市科创委科技计划基础研究(学科布局)项目(JCYJ20170410171923840)
关键词
缆索机器人
智能工具
斜拉桥
缆索
cable robot
intelligent tools
cable-stayed bridge
cable
