斜拉桥缆索检测机器人设计及其动力学研究  

Dynamics Research of Cable Inspection Robot for Cable-Stayed Bridge

作　　者：何鸿宇 胡桂川[1] 胡竞 任静 赵杭 田塘 李涛 HE Hongyu;HU Guichuan;HU Jing;REN Jing;ZHAO Hang;TIAN Tang;LI Tao(School of Mechanical and Power Engineering,Chongqing University of Science and Technology,Chongqing 401331,China;Department of Artificial Intelligence,Real Estate Vocational College,Chongqing 401331,China)

机构地区：[1]重庆科技学院机械与动力工程学院,重庆401331 [2]重庆房地产职业学院人工智能学院,重庆401331

出　　处：《重庆科技学院学报（自然科学版）》2021年第3期61-65,共5页Journal of Chongqing University of Science and Technology：Natural Sciences Edition

基　　金：重庆科技学院研究生科技创新计划项目“斜拉桥爬缆机器人本体设计及动力学优化”(YKJCX1820301)。

摘　　要：针对斜拉桥缆索检测作业的智能化问题,设计了一种轻量化的能够自适应缆索直径的机器人。首先通过建立缆索检测机器人动力学模型,计算得到机器人在静止和爬升工况下的理论参数,并将其作为仿真模型的边界条件;然后参照仿真结果对机器人关键部件进行修改优化,设计制作机器人本体结构,并开发适用于样机的FSR薄膜测压系统,对柔性体弹簧进行预紧力测量,验证了动力学仿真模型的精确性。Aiming at the intelligent problem of cable detection of cable-stayed bridge,a lightweight robot with adaptive cable diameter is designed.The dynamic model of the cable detection robot is established,and the theoretical parameters of the static and moving conditions are obtained as the boundary conditions of the simulation model.Referring to the simulation results,the key parts of the robot are modified and optimized,and therobot body structure is designed and manufactured.In this paper,the FSR film pressure measuring system is designed for the robot,and the preload experimental data of the flexible body spring is measured,which verifies the accuracy of the dynamic simulation model.

关 键 词：斜拉桥 缆索检测 机器人 动力学分析 弹簧 预紧力 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]