Kinematics And Structure Research Of Cable-staged Bridge Inspection Robot

Cable robot is a kind of climbing robot which can carry some relevant devices to do work in the high sky. The emergence of this robot is an inevitable result of the quick development of science and technology and the continual exploration and improvement of the produce fashion in recent years. This automatic device not only can accomplish the tasks of inspection, cleaning, spray, decoration of the cable-stayed bridge's cable, but also can be applied to in the other produce fields which resemble to the structure of cable. All this will take to great economic benefits.The aim of this paper is to realize the intelligent and quick inspection of the cable-stayed bridge's cable, base on the analysis and research,we bring forward the structure scheme of a kind of new type and electricity-driven cable inspection robot. In the design, this robot takes on symmetric frame structure, has a small cubage and a light mass,in addition to accomplish the high efficiency inspection of the cable, this robot can do other high space tasks through simple refit. The main body of this robot resembles to an equilateral triangle, under the driving of the three same motor, it can move on the cable through the six wheels which symmetrically installed on the both sides of the main body. The robot's driving system adopts synchronization belt, the speed of inspection is 1.5m/min, and it can accomplish the close loop control by the signal of coder which installed on the three driving wheels.Base on the structure scheme, this paper analyzed the kinematics and motion synchronization, deduced the robot's driving condition and adhesive condition through entirely considering the motion demand when the robot climbs up and down the cable, the necessary conditions and reference for the choice of motor and the design of key parts were provided. Meanwhile, three-dimensional model of the robot was established by means of Pro/Engineer soft, combined to this robot's structure characteristic, this thesis also optimized the robot's key parts'structure by using the module of Mechanica in the Pro/Engineer soft, and to do like this, the parts'whole structure were more reasonable, the whole mass of this robot was highly reduced. At last, the robot's motion simulation analysis was done in the structure design module of this three-dimensional soft, and all this would let us simulate the motion process of this robot and verify the intervention among all the parts and the motion trace of the robot.