| Xu Fengyu(徐丰羽),Wang Xingsong.[J].高技术通讯(英文),2011,17(2):173~179 |
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| Model of tri-sectional wheel-based cable climbing robot and analysis of centrifugal safety landing method |
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| 中文关键词: |
| 英文关键词: climbing robot, static features, centrifugal speed regulator, cable-stayed bridge |
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| Author Name | Affiliation | | Xu Fengyu(徐丰羽) | | | Wang Xingsong | |
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| 中文摘要: |
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| 英文摘要: |
| This paper proposes a new type of tri-sectional wheel-based cable climbing robot which is able to climb up vertical cylindrical cables of a cable-stayed bridge. The robot is composed of three pairs of wheels equally spaced circularly which are joined by six connecting boards to form a whole closed hexagonal body to clasp a cable. The whole design is entirely modular to enable to assenably the robot on-siteeasy eaoily. To analyze the static features of the robot, a mathematical model of climbing is deduced. Furthermore, taking a cable with a diameter of 80mm as an example, we calculate the design parameters of the robot. For safly landing in the case of electrical accident, a centrifugal speed regulator is proposed and applied to consume useless energy generated when the robot is slipping down along the cables. A simplified mathematical model of the landing mechanism is deduced. Finally, several experiments on the climbing mechanism demonstrate that the robot can carry payloads less than 2.2kg to climb up a cable with diameters varying from 65mm to 205mm. |
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