一种采用自夹紧模糊控制的缆索检测机器人设计

摘要

In allusion to the clamping forces required of the cable rope inspection robot,a kind of inclined cable inspection robot with pneumatic clamping device was proposed,it could adjust the clamping force according to its own weight and cable state. Pneumatic clamping manipulator could realtime provide appropriate clamping force,to guarantee the inspection robot to get enough friction and to avoid second injury to the cable. The cable rope inspection robot with selfclamping technology can be used to detect all sorts of cable with different diameter and gradient of cablestayed bridge by adjusting the clamping cylinder extent. The realization of selfclamping function can improve the structure of the robot and protect cable from secondary injury.%　　针对斜缆索检测机器人爬升所需夹紧力的特点，设计一种带气动夹紧装置的缆索机器人，能根据缆索机器人自身重力与所攀爬的缆索状态进行夹紧力的自适应模糊控制。气动夹紧机械臂能实时提供合适的夹紧力，在保证检测机器人获得足够摩擦力的同时避免由于夹紧力过大而对缆索造成二次损伤；同时，采用自夹紧技术的机器人，可以调节夹紧机构的气缸行程，实现同一个检测机器人检测各种不同直径和倾斜度的斜拉桥缆索。自夹紧功能的实现对于缆索机器人的结构改进和保护缆索避免二次损伤，具有积极意义。