缆索检测机器人的系统设计与动力学仿真研究

摘要

针对目前国内外斜拉锁缆桥表面缺陷检测机器人在实施检测任务时攀爬能力不理想这一实际状态,为进一步改进检测机器人工作过程中的稳定性、提高相应的驱动力矩,提出了一种新型的电驱动缆索检测机器人系统设计方案.基于三维建模软件Solidworks创建了缆索表面检测机器人虚拟样机,在ADAMS/View环境下对虚拟样机进行了运动学仿真分析,得出了合理的运动学参数,最后制作了物理样机并进行了试验.试验表明,该检测机器人的攀爬能力得到了明显的改进,为今后缆索表面检测机器人总体性能的改进和优化设计提供了重要的依据.%Aiming at the defects in the practice that the climbing ability of the cable surface inspection robot at working for inclined pulling cable bridge, both in domestic and from abroad at present, in order to raising its ability about steady and driving moment, a new system design of a light cable - stayed bridge detection robots driven by electricity is put forward. First, the fictitious model of the robot based on three - dimensional modeling software Solidworks was created. Then, the reasonable kinematics parameters by analysis under software ADAMS environment for the model were provided. At last, the experimental prototype was made and the experiment was done. The experimental results indicate that the climbing ability of the cable surface inspection robot is improved obviously. This can be very helpful reference for future cable robot to improve performance and optimize design.