Design and implementation of the wheel-clamping stay cable inspection robot

IF 1.9 4区工程技术 Q3 ENGINEERING, MECHANICAL

Advances in Mechanical Engineering Pub Date : 2023-08-01 DOI:10.1177/16878132231194409

Yongming Wang, Xiang Li, Mingxing Yang, Feng Yin

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引用次数: 0

Abstract

A new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on Arduino. Then, the diameter range of the stay cable that the robot can hold was calculated. The mechanical model of the robot under clamping condition was established. The curves for the minimum thrust Fe and driving force F required by the robot under different stay cable diameters Φ and inclined angles γ were obtained through Matlab data processing. Based on Adams dynamic simulation, the appropriate shape and material of the wheel, the optimal position of the centroid distribution and how to improve the wind resistance of the wheel were determined. Finally, a prototype robot was developed and a climbing experiment was carried out. The results show that the inspection robot is easy to clamp, simple to operate and control, and the detection speed is 0–5 m/min. The robot can grab stay cables with diameters ranging from 70 to 245 mm and can be used for stay cables with angles ranging from 0° to 90°.

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车轮夹紧拉索检测机器人的设计与实现

设计了一种新型的车轮夹紧式桥梁斜拉索检测机器人。其夹紧机构采用四辅助二驱动轮夹紧方案，驱动单元采用单电机双输出轴。基于Arduino设计了一个简单的机器人自动控制系统。然后，计算了机器人可以保持的拉索直径范围。建立了夹持状态下机器人的力学模型。通过Matlab数据处理，得到了不同斜拉索直径Φ和倾角γ下机器人所需的最小推力Fe和驱动力F的曲线。基于Adams动力学仿真，确定了合适的车轮形状和材料、质心分布的最佳位置以及如何提高车轮的风阻。最后，开发了一个原型机器人，并进行了攀爬实验。结果表明，该检测机器人易于夹紧，操作和控制简单，检测速度为0–5 米/分钟。该机器人可以抓取直径从70到245不等的拉索 mm，可用于角度在0°到90°之间的斜拉索。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Advances in Mechanical Engineering 工程技术-机械工程

CiteScore

3.60

自引率

4.80%

发文量

353

审稿时长

6-12 weeks

期刊介绍： Advances in Mechanical Engineering (AIME) is a JCR Ranked, peer-reviewed, open access journal which publishes a wide range of original research and review articles. The journal Editorial Board welcomes manuscripts in both fundamental and applied research areas, and encourages submissions which contribute novel and innovative insights to the field of mechanical engineering