橋梁纜索檢測攀爬蛇形機(jī)器人的設(shè)計(jì)與實(shí)現(xiàn)
發(fā)布時(shí)間：2019-03-28 07:16
【摘要】：為了實(shí)現(xiàn)橋梁纜索缺陷的檢測,針對橋梁纜索攀爬機(jī)器人進(jìn)行研究,開發(fā)了一種適合橋梁纜索缺陷自動檢測,具有強(qiáng)攀爬能力和高機(jī)動性的攀爬蛇形機(jī)器人。它由具有單自由度的模塊組成,可根據(jù)纜索特征靈活增減模塊數(shù)量實(shí)現(xiàn)手動重構(gòu)。模塊中的超大扭矩舵機(jī)、輕質(zhì)鋁合金機(jī)械構(gòu)件和高摩擦系數(shù)的外皮等,增強(qiáng)了機(jī)器人的攀爬能力。模塊正交連接與P-R連接結(jié)合應(yīng)用,使得機(jī)器人可有效完成纜索攀爬運(yùn)動和檢測作業(yè)。設(shè)計(jì)一種主從分布式多級閉環(huán)運(yùn)動控制系統(tǒng),引入電池供電和扭矩限制,增強(qiáng)了機(jī)器人的機(jī)動性和對環(huán)境的適應(yīng)能力。纜索模擬攀爬試驗(yàn)結(jié)果證明機(jī)器人具有很強(qiáng)的機(jī)動性和攀爬能力。
[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.
【作者單位】： 華南理工大學(xué)自動化科學(xué)與工程學(xué)院;
【基金】：交通運(yùn)輸部西部交通建設(shè)科技項(xiàng)目(B1110210)
【分類號】：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.
【作者單位】： 華南理工大學(xué)自動化科學(xué)與工程學(xué)院;
【基金】：交通運(yùn)輸部西部交通建設(shè)科技項(xiàng)目(B1110210)
【分類號】：U446;TP242
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