Design And Experiment Of Omnidirectional Cable Detection Robot Based On New Mecanum Wheel

As an important stress component of cable-stayed bridge,cable should be tested regularly.Most traditional cable detection robots can only move up and down along the cable direction,but cannot rotate around the cable.In order to realize the controllable rotation of the cable climbing robot along the cable,this paper proposes an omnidirectional motion cable climbing robot based on the new Mecanum wheel,so that the robot can spiral climb on the cable at any Angle and adapt to different pipe diameters.In order to achieve the purpose of all-round climbing on the cable,this paper first designs a robot based on the traditional Mecanum wheel,which can achieve all-round climbing around the cable.In order to improve the previous generation of cable detection robot can not adapt to the change of pipe diameter and easy to shift when moving,this paper puts forward the overall scheme based on the new Mecanum wheel cable detection robot,introduces the design scheme of the new Mecanum wheel,because the design idea of the traditional Mecanum wheel small roller is aimed at the plane movement,This paper analyzes the design idea of a small roller moving on a cylindrical surface.In order to make the robot can climb on the slope Angle cable smoothly,this paper analyzes the basic performance of the robot such as climbing ability and anti-skid performance.In order to simulate the real scene,this paper applies simple harmonic vibration with amplitude and frequency of 0.01 m and 10 Hz to the cable,respectively,and simulates the change of friction force provided by the robot under the cable vibration.According to the simulation results,when the spring force F＿t is greater than 159 N,the robot wheel will not slip.In order to make the robot can achieve all-round climbing on the cable,this paper analyzes the kinematics of the robot,and theoretically proves that the robot can achieve all-round movement on the cable.After that,the kinematics simulation of the robot was carried out,including moving up and down the cable,rotating laterally around the cable,and climbing up and down the cable at 30°,45°and 60°.Aiming at the situation that the robot needs to detect on the cable,transmit the cable picture in real time,and the ground station staff needs to send the motion command to the cable detection robot,this paper designs the wireless remote control system.In order to verify the effectiveness and feasibility of each component of the robot,this paper carried out experiments on the prototype.The experimental contents include several typical robot motion state tests,robot motion speed with different cable inclination angles,robot carrying maximum load and so on.The experimental results show that the robot can climb in all directions on the cable with the diameter of,and can carry up to 6.5kg of detection equipment when the tilt Angle is 90°,and can carry up to 11 kg of detection equipment when the tilt Angle is 30°.