Cable Surface Inspection Robot System Design And Simulation Based On ADAMS

Pole (pipe) robots, for the completion of the work of a variety of dangerous instead of human-type, become one of the hot areas of research. Cable Surface Inspection Robot for cable-stayed bridge, a surface defect detection cable pole (pipe) type robot, is low operating cost and safety compared with the manual mode of operation. So it have broad application prospects of the market, therefore, Cable Surface Inspection Robot research and development of great significance.Thesis ,by analyzing the types of research and summarize the climbing robot and the background study status quo at home and abroad, bring forward the overall program of a cable-stayed bridge cable-driven light electric detection surface robots, design and construction of the overall robot system of Cable Surface Inspection Robot. Analysis Climb model's dynamic, in accordance with the conditions attached drive, the driving force parameters are given in this basis, testing the surface of the cable structure of the robot's body, as well as the various motor and gear components for the design and selection, and introduces the motion control module, detection module design, a hardware block diagram.Thesis of three-dimensional modeling software Solidworks to create the surface of the cable robot model testing and application analysis software ADAMS virtual prototype of the robot simulation, movement characteristic curve drawn.Thesis through the cable surface detection of the virtual prototype robot kinematics dynamics simulation analysis to study the surface of the cable robot stability testing factors. Cable and the surface of the driving torque detecting robot to carry out parametric analysis to study the compaction force, friction coefficient and other parameters of its drive torque requirements.Finally, the paper describes the development of physical prototypes and experimental situation for the future cable robot to improve and optimize the performance of reference.