교량 케이블 점검용 이동 로봇 개발
Development of a Climbing Robot for Inspection of Bridge Cable
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.
Abstract
In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.
참고문헌 (8)
- Fengyu Xu, "A Wheel-Based Cable Climbing Robot With Descending Speed Restriction", Control and Descision conference (CCDC), pp.1570~1575 (2008)
- Xingsong Wang, "Design and Experiments on Cable Inspection Robot", Industrial Electronics Society, (IECON), pp.2870~2875 (2007)
- Mahmoud Tavakoli, "3DCLIMBER: A climbing robot for inspection of 3D human made structures", Intelligent Robot sand Systems, (IROS), pp.4130~4135 (2008)
- Li Jiang, "climbing gaits of a modular biped climbing robot", Advanced Intelligent Mechatronics, (AIM), pp.532~537 (2009)
- Li Jiang, "Grasping analysis for a biped climbing robot", Robotics and Biomimetics (ROBIO), pp.579~584 (2010)
- F. Xu, "Cable Inspection Robot for Cable-Stayed Bridges: Design, Analysis, and Application", J. of Field Robotics, 23(3), pp.441~459 (2011)
- J. Yuan, "Research on Reconfigurable Robot Technology for Cable Maintenance of Cable-stayed Bridges In-service", Mechanic Automation and Control Engineering (MACE), pp.1019~1022 (2010)
- Ho Moon Kim, "DEVELOPMENT OF CABLE CLIMBING ROBOTIC SYSTEM FOR INSPECTION OF SUSPENSION BRIDGE", International Symposium on Automation and Robotics in Construction, pp.1422~1423 (2011)