A Wheel-Based Cable Climbing Robot With Descending Speed Restriction

被引：1
|
作者：
Xu, Fengyu [1 ]
Wang, Xingsong [1 ]
机构：
[1] Southeast Univ, Sch Mech Engn, Nanjing 211189, Peoples R China
来源：
2008 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-11 | 2008年
关键词：
Cable-stayed bridge; climbing robot; slider-crank mechanism; gas damper;
D O I：
10.1109/CCDC.2008.4597581
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A new wheel-based cable climbing robot which is able to climb up the vertical cylindrical cable on the cable-stayed bridge was proposed. Unlike the previous one, the new designed robot proposed in this paper is composed of two equally spaced modules, which are joined by connecting bars to form a closed hexagonal body to clasp on the cable. The static features of the robot were analyzed and the balanced torque of the mechanism was given. For the present design, it can climb up a cable with diameters varying from 65mm, to 205mm with payloads below 3.5kg. A cable with a diameter of 139mm was selected as an example to calculate the parameters of the robot. For the safety landing in case of electricity broken-down, a gas damper with a slider-crank mechanism is introduced to exhaust the energy generated by the gravity when the robot is slipping down along the cables. The landing system is tested experimentally and a simplified mathematical model is analyzed. Several climbing experiments performed on real cables show the capability of the proposed robot.
引用
收藏
页码：1570 / 1575
页数：6
相关论文
共 50 条
  • [31] Design and Optimization of Magnetic Wheel for Wall Climbing Robot
    Xu, Zheng-Yi
    Zhang, Ke
    Zhu, Xiao-Peng
    Shi, Hao
    [J]. ROBOTIC WELDING, INTELLIGENCE AND AUTOMATION, RWIA'2014, 2015, 363 : 619 - 629
  • [32] Design of A Wheel-Legged Stair Climbing Robot
    Ma, Yichi
    Lyu, Fengjiao
    [J]. 2021 7TH INTERNATIONAL CONFERENCE ON CONTROL, AUTOMATION AND ROBOTICS (ICCAR), 2021, : 146 - 150
  • [33] Dynamic analysis of a cable-climbing robot system
    Wang Yue
    Xu Fengyu
    Yang Zhong
    [J]. PROCEEDINGS OF 2016 23RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2016, : 140 - 145
  • [34] Design of Continuous Climbing Pneumatic Cable Maintenance Robot
    Li, Jianyong
    Liu, Xiaoyong
    Jiang, Shengyuan
    Li, Rongli
    Ren, Limin
    [J]. 2009 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, VOLS 1-7, CONFERENCE PROCEEDINGS, 2009, : 4633 - 4637
  • [35] Kinematic and Dynamic Analysis of a Cable-climbing Robot
    Xu Fengyu
    Shen Jingjin
    Jiang GuoPing
    [J]. INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2015, 12
  • [36] Soil Displacement Terramechanics for Wheel-Based Trenching with a Planetary Rover
    Pavlov, Catherine
    Johnson, Aaron M.
    [J]. 2019 INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2019, : 4760 - 4766
  • [37] An Improved Trajectory Deformation Approach for Wheel-based Mobile Robots
    Yuan, Ye
    Ju, Hehua
    [J]. 2008 IEEE INTERNATIONAL SYMPOSIUM ON KNOWLEDGE ACQUISITION AND MODELING WORKSHOP PROCEEDINGS, VOLS 1 AND 2, 2008, : 829 - 832
  • [38] Mechanical Design of a Cable Climbing Robot for Inspection on a Cable-Stayed Bridge
    Zheng, Zhenliang
    Yuan, Xiaoqiang
    Huang, Huanhui
    Yu, Xiao
    Ding, Ning
    [J]. 2018 13TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA), 2018, : 1680 - 1684
  • [39] Experimental investigations on permanent magnet based wheel mechanism for safe navigation of climbing robot
    Bisht, Ravindra Singh
    Pathak, Pushparaj Mani
    Panigrahi, Saroj Kumar
    [J]. INTERNATIONAL CONFERENCE ON ROBOTICS AND SMART MANUFACTURING (ROSMA2018), 2018, 133 : 377 - 384
  • [40] Automatic Control Method of Climbing Speed of Wall-Climbing Robot Based on Multi-Vision
    Ma, Guofeng
    Lorenzini, Enzo
    [J]. Engineering Intelligent Systems, 2024, 32 (02): : 111 - 120
12345