桥梁缆索检测攀爬蛇形机器人的设计与实现
发布时间：2019-03-28 07:16
【摘要】：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。
[Abstract]:In order to detect the defects of bridge cables, a snake-like climbing robot with strong climbing ability and high mobility is developed, which is suitable for the automatic detection of cable defects of bridges and the research on the climbing robot of bridge cables is carried out on the basis of the research on the climbing robot of bridge cables. It is composed of modules with single degree of freedom and can be reconstructed manually according to the number of modules. The super-large torque steering gear in the module, light aluminum alloy mechanical components and high friction coefficient skin, etc., enhance the climbing ability of the robot. With the combination of modular orthogonal connection and PPR connection, the robot can effectively complete the cable climbing and detection operations. A master-slave distributed multi-stage closed-loop motion control system is designed. Battery power supply and torque restriction are introduced to enhance the mobility and adaptability of the robot to the environment. The cable simulation climbing test results show that the robot has strong mobility and climbing ability.
【作者单位】： 华南理工大学自动化科学与工程学院;
【基金】：交通运输部西部交通建设科技项目(B1110210)
【分类号】：U446;TP242
[Abstract]:In order to detect the defects of bridge cables, a snake-like climbing robot with strong climbing ability and high mobility is developed, which is suitable for the automatic detection of cable defects of bridges and the research on the climbing robot of bridge cables is carried out on the basis of the research on the climbing robot of bridge cables. It is composed of modules with single degree of freedom and can be reconstructed manually according to the number of modules. The super-large torque steering gear in the module, light aluminum alloy mechanical components and high friction coefficient skin, etc., enhance the climbing ability of the robot. With the combination of modular orthogonal connection and PPR connection, the robot can effectively complete the cable climbing and detection operations. A master-slave distributed multi-stage closed-loop motion control system is designed. Battery power supply and torque restriction are introduced to enhance the mobility and adaptability of the robot to the environment. The cable simulation climbing test results show that the robot has strong mobility and climbing ability.
【作者单位】： 华南理工大学自动化科学与工程学院;
【基金】：交通运输部西部交通建设科技项目(B1110210)
【分类号】：U446;TP242
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