The Control And Implementation Of Snake-like Robot For Bridge Cable Climbing

From now on, artificial detection is still the main method in the field of maintainingbridge cables. In order to ensure the accuracy of the test and the safety of personnel, peoplestarted to research in the inspection of the cables maintenance automation equipment. Oursnake-like robot is used to detect the defects of bridge cables. This thesis will describe theclimb motion control of it and how to realize it.This paper is about how to realize the bridge cable climbing movement of the snake-likerobot, snake-like robot’s mechanical structure and closed-loop motion control system. Besides,the relative kinematics simulations and tests are finished, the prototype of the snake-like robotis made. The main content of this article includes:(1) The design of the snake-like robot’s modular mechanical structureAccording to the modular idea, the mechanical structure of snake-like robot, includinglarge torque steering gear, U connecting rod, convex word back cover and cylindrical tubeshell skin is designed and battery supply is realized creatively. Comprehensive robotapplications using connection mode combination cascading became test prototype, realize cancomplete the relevant search assignments prototype bridge cable climbing movement.(2) The master-slave distributed design of the snake-like robot and multistage closed-loopmotion control systemAccording to the snake-like robot transport work situation on the motion control system’sdesign requirements, analyzes its communication and power management, design a kind ofmaster-slave distributed motion control system. Because closed loop characteristics of thesteering gear, a closed-loop motion control system which is based on the bottom of themultistage data is designed. Besides, the master-slave controllers are made. Furthermore, thereliability analysis of the control system is done.(3) The analysis of snake-like robot’s3D motion model, the software simulation and theexperiment of prototype climbingWith the D-H transformation, the snake-like robot’s coordinate system is established.Based on the simulation software Webots, the kinematics model of the robot for serpentinethree dimensional motion model is made. Not only the spiral roll climb motion simulation, butalso the relative experiments of the prototype robot are done.