摘要
缆索维护机器人是特种机器人技术在斜拉桥缆索维护方面的首次应用.提出了机械模块化的设计思想,研制了适于任意倾斜度缆索的新型爬升机构和各种工作机构.该系统可完成对缆索的在线检测、清洗及涂装等一系列维护工作,并且克服了国内外斜拉桥普遍采用的人工方式进行缆索维护所带来的低效率、高成本。
The cable robot developed in this paper is the first application of special robots to cables of ca- ble- stayed bridges.It put forward a method of modularized design.The new climbing mechanism and all kinds of working mechanisms applying to arbitrary- gradientcables were developed.The system can fulfill a series of maintenance of the cables such as line inspection,cleaning and painting.The shortcomings such as low efficiency,high cost,less safety of artificial methods which are normally existed in calbe- stayed bridges athome and abroad have been overcomed.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2000年第3期360-362,共3页
Journal of Shanghai Jiaotong University
基金
国家"8 6 3"计划资助项目! ( 86 3 -5 12 -980 3 -10 )
关键词
机器人
斜拉桥
缆索
维护机构
自动维护
special robot
cables of cable- stayed bridge
mechanisms for maintenance
