Design Of Cable Maintence Robot For Cable-stayed Bridge

The cable-stayed bridge is the most widely used on modern Bridges,the cable is important mechanical components of the cable-stayed bridge,it exposed to all kinds of environment in long time,so its external layer(PE)will appear damage of different degrees,When the damage become serious and the external layer fall off,it will cause internal corrosion and endanger the safety of the bridge.In this background,combining the latest cable inspection robot technology,it designed a kind of cable maintenance robot for cable-stayed bridge.In this paper,the design of maintenance repair robot can improve the service life of the cable,reduce maintenance cost and realize the automation of cable maintenance.On the basis of reading a lot of maintenance reference of the cable,confirming overall design scheme of cable maintenance robot,and combining with the method of the cable maintenance,rotational platform,grinding equipment,cleaning equipment,spraying equipment and winding device structure was introduced in detail.Using the theory of classical mechanics,modeling analysis was carried out on the important institutions.The robot kinematics and workspace analysis of various modules are established on the basic of D-H coordinate system method.The dynamic analysis of winding device is carried on based of Lagrange method,the ADAMS software was used to simulate the kinematics and dynamics of winding device virtual prototype,the simulation result verifies the correctness of the theory kinematic modeling of winding mechanism,it is concluded that the winding device peak and change trend of each joint driving moment,and the load torque change of winding device under different working conditions of has been carried on the simulation analysis.Finally,the article simulated environment of cable-stayed bridge and set up cable platform to study prototype experimental of maintenance robot,the experimental results show that maintenance robots can finish grinding,cleaning,spray and winding automation maintenance work for damage cable.