The Obstacle-surmounting Performance of a Cable-climbing Robot

被引：0
|
作者：
Lv, Fan [1 ,2 ,3 ]
Xu, Fengyu [1 ,2 ,3 ]
Wu, Chengzi [1 ,2 ,3 ]
机构：
[1] Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210023, Peoples R China
[2] Nanjing Univ Posts & Telecommun, Coll Artficial Intelligence, Nanjing 210023, Peoples R China
[3] Jiangsu Engn Lab IOT Intelligent Robots IOTRobot, Nanjing 210023, Peoples R China
来源：
2019 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS (AIM) | 2019年
基金：
中国国家自然科学基金;
关键词：
INSPECTION;
D O I：
10.1109/aim.2019.8868475
中图分类号：
TM [电工技术]; TN [电子技术、通信技术];
学科分类号：
0808 ; 0809 ;
摘要：
In order to realize the steady climbing of the robot on the cable, this paper first analyzes the structure and climbing principle of a three-wheeled climbing robot. The mechanical model is established to analyze the relationship between the driving force and the resistance of the robot in cable climbing, and the driving torque of the robot is simulated. The simulation results show that the ability of the obstacle-surmounting is related to the clamping force. Furthermore, this paper introduces a centrifugal friction safe recovery mechanism, and analyzes speed limit principle. Finally, laboratory experiments are demonstrated that the robot could surmount obstacles with a height of 4mm and automatically recovery.
引用
收藏
页码：960 / 965
页数：6
相关论文
共 50 条
  • [1] Dynamic obstacle-surmounting analysis of a bilateral-wheeled cable-climbing robot for cable-stayed bridges
    Xi, Fengyu
    Jiang, Quansheng
    INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2019, 46 (03): : 431 - 443
  • [2] The obstacle-surmounting analysis of a pole-climbing robot
    Du, Qiaoling
    Lu, Xinpo
    Wang, Yankai
    Liu, Sinan
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2020, 17 (06)
  • [3] Elastic Obstacle-Surmounting Pipeline-Climbing Robot with Composite Wheels
    Li, Jie
    Huang, Feng
    Tu, Chunlei
    Tian, Mengqian
    Wang, Xingsong
    MACHINES, 2022, 10 (10)
  • [4] The Gait of a Hexapod Robot and Its Obstacle-surmounting Capability
    Tan, Xingjun
    Wang, Yujun
    He, Xinqiang
    2011 9TH WORLD CONGRESS ON INTELLIGENT CONTROL AND AUTOMATION (WCICA 2011), 2011, : 303 - 308
  • [5] Research on the Traction and Obstacle-Surmounting Performance of an Adaptive Pipeline-Plugging Robot
    Yan, Hongwei
    Li, Jian
    Kou, Ziming
    Liu, Yi
    Li, Pengcheng
    Wang, Lu
    STROJNISKI VESTNIK-JOURNAL OF MECHANICAL ENGINEERING, 2022, 68 (01): : 14 - 26
  • [6] Kinematic and Dynamic Analysis of a Cable-climbing Robot
    Xu Fengyu
    Shen Jingjin
    Jiang GuoPing
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2015, 12
  • [7] Gait Study and Obstacle-Surmounting Performance Analysis of a Wheel-Leg Hybrid Robot
    Jiang Y.
    Wang T.
    Shao P.
    Xu Y.
    Shao S.
    Binggong Xuebao/Acta Armamentarii, 2023, 44 (01): : 247 - 259
  • [8] Dynamic analysis of a cable-climbing robot system
    Wang Yue
    Xu Fengyu
    Yang Zhong
    PROCEEDINGS OF 2016 23RD INTERNATIONAL CONFERENCE ON MECHATRONICS AND MACHINE VISION IN PRACTICE (M2VIP), 2016, : 140 - 145
  • [9] Obstacle detection and obstacle-surmounting planning for a wheel-legged robot based on Lidar
    Wang, Ruoxing
    Wang, Shoukun
    Xu, Junfeng
    Chen, Zhihua
    Si, Jinge
    ROBOTIC INTELLIGENCE AND AUTOMATION, 2024, 44 (01): : 19 - 33
  • [10] Dynamic Analysis of a Bridge-Detecting Robot When Obstacle-Surmounting
    Xu Fengyu
    Wang Xingsong
    2014 33RD CHINESE CONTROL CONFERENCE (CCC), 2014, : 8243 - 8248
12345