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Design and Implementation of a Cable Inspection Robot for Cable-Stayed Bridges

Published online by Cambridge University Press:  08 January 2021

Zhipeng Wang,
Bin HeOpen the ORCID record for Bin He[Opens in a new window],
Yanmin Zhou,
Ke Liu and
Chenghong Zhang
Zhipeng Wang
Affiliation:
Department of Control Science and Engineering, Tongji University, No.4800 Caoan Road, Shanghai 201804, ChinaShanghai Research Institute for Intelligent Autonomous Systems, No.55 Chuanhe Road, Shanghai 200120, China E-mails: wangzhipeng@tongji.edu.cn, yanmin.zhou@tongji.edu.cn, 1414358333@qq.com, 771996588@qq.com
Bin He*
Affiliation:
Department of Control Science and Engineering, Tongji University, No.4800 Caoan Road, Shanghai 201804, ChinaShanghai Research Institute for Intelligent Autonomous Systems, No.55 Chuanhe Road, Shanghai 200120, China E-mails: wangzhipeng@tongji.edu.cn, yanmin.zhou@tongji.edu.cn, 1414358333@qq.com, 771996588@qq.com
Yanmin Zhou
Affiliation:
Department of Control Science and Engineering, Tongji University, No.4800 Caoan Road, Shanghai 201804, ChinaShanghai Research Institute for Intelligent Autonomous Systems, No.55 Chuanhe Road, Shanghai 200120, China E-mails: wangzhipeng@tongji.edu.cn, yanmin.zhou@tongji.edu.cn, 1414358333@qq.com, 771996588@qq.com
Ke Liu
Affiliation:
Department of Control Science and Engineering, Tongji University, No.4800 Caoan Road, Shanghai 201804, ChinaShanghai Research Institute for Intelligent Autonomous Systems, No.55 Chuanhe Road, Shanghai 200120, China E-mails: wangzhipeng@tongji.edu.cn, yanmin.zhou@tongji.edu.cn, 1414358333@qq.com, 771996588@qq.com
Chenghong Zhang
Affiliation:
Department of Control Science and Engineering, Tongji University, No.4800 Caoan Road, Shanghai 201804, ChinaShanghai Research Institute for Intelligent Autonomous Systems, No.55 Chuanhe Road, Shanghai 200120, China E-mails: wangzhipeng@tongji.edu.cn, yanmin.zhou@tongji.edu.cn, 1414358333@qq.com, 771996588@qq.com
*
*Corresponding author. E-mail: hebin@tongji.edu.cn
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Summary

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Cable is the most important bearing structure of the cable-stayed bridges. Its safety has been of crucial public concern. Traditional manual cable inspection method has many defects such as low inspection efficiency, poor reliability and hazardous working environment. In this paper, a new wirelessly controlled cable-climbing robot enabling safe and convenient inspection of stay cables is proposed. The designed robot is composed of two modules, joined by four turnbuckles to form a closed structure that clasps the cable. The robot is controlled wirelessly by a ground-based station, and a DC power is supplied via an onboard lithium battery. The climbing principle and mechanical structure of this robot are introduced. The static model of the robot during obstacle negotiation is established. The relationships of the driving force and resistance with obstacle height to determine the obstacle-negotiation capability of the robot are obtained. The effects of cable diameter, cable inclination and preload force on obstacle climbing ability of the robot are also analyzed. The experiments verify that the robot could climb random inclined cables and overcome an obstacle of 2.42 mm in height with a mass of 5 kg payload.

Keywords

Climbing robotCable inspectionClimbing abilityObstacle negotiationCable-stayed bridge

Information

Type
Article
Information
Robotica , Volume 39 , Issue 8 , August 2021, pp. 1417 - 1433
Copyright
© Tongji University, 2021. Published by Cambridge University Press

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