Design Of Obstacle Crossing And Maintenance Robot For Stay Cable

Cable-stayed bridges are gradually becoming the first choice for the construction of longspan bridges.As the important force-bearing member,stay cables are critical to the safety of the bridge.Due to the long-term alternating stress and the exposure to the air,different types of damage may appear on the outer protective,such as scratches,pits,cracks,warped surface,etc.Severe damage may even cause internal steel wire corrosion and fracture,seriously endangering the safety of the bridge.In this context,this paper proposes an obstacle crossing and maintenance robot for stay cable.Firstly,the robot designed in this paper adds some important mechanisms based on the research group’s stay cable inspection robot,including a repair mechanism designed to repair PE surface defects,mainly consists of circular motion platform,grinding,cleaning and winding modules.The pressing mechanism in the winding module is analyzed for motion;For cablestayed bridges with auxiliary cables and cable clamps with high anti-vibration performance,the circumferential rotation drive mechanism designed for the robot to pass through the cable clamp obstacle,and the force analysis on the movement process is conducted;an anti-deflection mechanism designed to prevent the robot from accidentally falling off the cable.Secondly,the kinematic model of the repairing mechanism is obtained by the D-H coordinate method,and the working space is analyzed.Using ADAMS to simulate the robot’s circumferential rotation process,the driving torque is obtained,which can be used as the basis for the design of the mechanism.The dynamic model of the process of the robot crossing step obstacle of the cable clamp is established,and the ADAMS simulation is used to obtain the curves of various parameters during the step obstacle crossing.Then,the overall design plan of the control system is proposed.From the perspectives of hardware selection,control board design,and host computer design,the composition of the control system is elaborated.Separate the vision inspection system from the control system,introduce the hardware and host computer software involved in the inspection process.Finally,a robot prototype is developed and a stay cable simulation platform is built,the work effect of the repair mechanism is tested.The ability of the robot to pass through the cable clamp obstacle is tested,and the movement parameters are recorded for analysis.The feasibility of robot crossing obstacles is proved.