Design and implementation of the wheel-clamping stay cable inspection robot
A new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2023-08-01
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| Series: | Advances in Mechanical Engineering |
| Online Access: | https://doi.org/10.1177/16878132231194409 |
| _version_ | 1827856583065862144 |
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| author | Yongming Wang Xiang Li Mingxing Yang Feng Yin |
| author_facet | Yongming Wang Xiang Li Mingxing Yang Feng Yin |
| author_sort | Yongming Wang |
| collection | DOAJ |
| description | A new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on Arduino. Then, the diameter range of the stay cable that the robot can hold was calculated. The mechanical model of the robot under clamping condition was established. The curves for the minimum thrust F e and driving force F required by the robot under different stay cable diameters Φ and inclined angles γ were obtained through Matlab data processing. Based on Adams dynamic simulation, the appropriate shape and material of the wheel, the optimal position of the centroid distribution and how to improve the wind resistance of the wheel were determined. Finally, a prototype robot was developed and a climbing experiment was carried out. The results show that the inspection robot is easy to clamp, simple to operate and control, and the detection speed is 0–5 m/min. The robot can grab stay cables with diameters ranging from 70 to 245 mm and can be used for stay cables with angles ranging from 0° to 90°. |
| first_indexed | 2024-03-12T12:27:55Z |
| format | Article |
| id | doaj.art-9b00c3742efd4454a2fdf2a413e36421 |
| institution | Directory Open Access Journal |
| issn | 1687-8140 |
| language | English |
| last_indexed | 2024-03-12T12:27:55Z |
| publishDate | 2023-08-01 |
| publisher | SAGE Publishing |
| record_format | Article |
| series | Advances in Mechanical Engineering |
| spelling | doaj.art-9b00c3742efd4454a2fdf2a413e364212023-08-29T19:43:38ZengSAGE PublishingAdvances in Mechanical Engineering1687-81402023-08-011510.1177/16878132231194409Design and implementation of the wheel-clamping stay cable inspection robotYongming Wang0Xiang Li1Mingxing Yang2Feng Yin3China International Science and Technology Cooperation Base on Intelligent Equipment Manufacturing in Special Service Environment, Ma’anshan, PR ChinaChina International Science and Technology Cooperation Base on Intelligent Equipment Manufacturing in Special Service Environment, Ma’anshan, PR ChinaChina International Science and Technology Cooperation Base on Intelligent Equipment Manufacturing in Special Service Environment, Ma’anshan, PR ChinaChina International Science and Technology Cooperation Base on Intelligent Equipment Manufacturing in Special Service Environment, Ma’anshan, PR ChinaA new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on Arduino. Then, the diameter range of the stay cable that the robot can hold was calculated. The mechanical model of the robot under clamping condition was established. The curves for the minimum thrust F e and driving force F required by the robot under different stay cable diameters Φ and inclined angles γ were obtained through Matlab data processing. Based on Adams dynamic simulation, the appropriate shape and material of the wheel, the optimal position of the centroid distribution and how to improve the wind resistance of the wheel were determined. Finally, a prototype robot was developed and a climbing experiment was carried out. The results show that the inspection robot is easy to clamp, simple to operate and control, and the detection speed is 0–5 m/min. The robot can grab stay cables with diameters ranging from 70 to 245 mm and can be used for stay cables with angles ranging from 0° to 90°.https://doi.org/10.1177/16878132231194409 |
| spellingShingle | Yongming Wang Xiang Li Mingxing Yang Feng Yin Design and implementation of the wheel-clamping stay cable inspection robot Advances in Mechanical Engineering |
| title | Design and implementation of the wheel-clamping stay cable inspection robot |
| title_full | Design and implementation of the wheel-clamping stay cable inspection robot |
| title_fullStr | Design and implementation of the wheel-clamping stay cable inspection robot |
| title_full_unstemmed | Design and implementation of the wheel-clamping stay cable inspection robot |
| title_short | Design and implementation of the wheel-clamping stay cable inspection robot |
| title_sort | design and implementation of the wheel clamping stay cable inspection robot |
| url | https://doi.org/10.1177/16878132231194409 |
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