The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model

doi:10.3390/app8112123

CORC > 兰州理工大学 > 兰州理工大学 > 机电工程学院

	The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model
	Xu, Fengyu 1,2; Jiang, Quansheng 3; Lv, Fan 1; Wu, Mingliang 4; Zhang, Laixi 4
刊名	APPLIED SCIENCES-BASEL
	2018-11
卷号	8 期号:11
关键词	climbing robot safety recovery mechanism cable detection dynamic coupling analysis
ISSN号	2076-3417
DOI	10.3390/app8112123
英文摘要	Cable is one of the most important parts on cable-stayed bridges. Its safety is very important. The aim of this study is to design an all-wheel-drive climbing robot based on safety recovery mechanism model for automatic inspection of bridge cables. For this purpose, a model of a three-wheel-drive climbing robot with high-altitude safety recovery mechanism is constructed and the basic performances such as climbing ability and anti-skidding properties are analyzed. Secondly, by employing the finite element method, natural frequency of the robot is calculated and that of a cable with concentrated masses is obtained through use of the Rayleigh quotient. Based on the mentioned quantities, the dynamic characteristics of the robot-cable system are further analyzed. In order to verify the climbing ability of the designed robot, a prototype of the robot is made, a robot testing platform is established and the climbing & loading experiments of the robot are carried out. The experiment results illustrated that the robot can carry a payload of 10 kg and safely return along the cable under the influences of inertial force.
资助项目	Jiangsu Six Talent Peaks Program[JY-081]
WOS研究方向	Chemistry ; Materials Science ; Physics
语种	英语
出版者	MDPI
WOS记录号	WOS:000451302800113
状态	已发表
内容类型	期刊论文
源URL	[http://119.78.100.223/handle/2XXMBERH/32373]
专题	机电工程学院
通讯作者	Jiang, Quansheng
作者单位	1.Nanjing Univ Posts & Telecommun, Coll Automat, Nanjing 210003, Jiangsu, Peoples R China 2.Harbin Inst Technol, State Key Lab Robot & Syst HIT, Harbin 150001, Heilongjiang, Peoples R China 3.Suzhou Univ Sci & Technol, Sch Mech Engn, Suzhou 215009, Peoples R China 4.Lanzhou Univ Technol, Sch Mech & Elect Engn, Lanzhou 730050, Gansu, Peoples R China
推荐引用方式 GB/T 7714	Xu, Fengyu,Jiang, Quansheng,Lv, Fan,et al. The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model[J]. APPLIED SCIENCES-BASEL,2018,8(11).
APA	Xu, Fengyu,Jiang, Quansheng,Lv, Fan,Wu, Mingliang,&Zhang, Laixi.(2018).The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model.APPLIED SCIENCES-BASEL,8(11).
MLA	Xu, Fengyu,et al."The Dynamic Coupling Analysis for All-Wheel-Drive Climbing Robot Based on Safety Recovery Mechanism Model".APPLIED SCIENCES-BASEL 8.11(2018).