Design and analysis of climbing robot based on construction surface inspection
Design and analysis of climbing robot based on construction surface inspection
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DOI：
10.1109/ccdc.2016.7531951
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发表时间：
2016-05
期刊：
影响因子：
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通讯作者：
D. Cui;Dongsheng Chen;H. Dong;Lijuan Zhang;Falin Qi;Yang Lei;Xueshan Gao
中科院分区：
文献类型：
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作者：
D. Cui;Dongsheng Chen;H. Dong;Lijuan Zhang;Falin Qi;Yang Lei;Xueshan Gao
为了实现施工表面衬砌缺陷的自动检测，使施工修补表面有效地工作，研究了一种能够在施工表面爬行并进行无损检测的机器人。根据施工表面的特点，提出了爬升机器人的总体设计方案，确定了其关键部件，设计了电气与气动相结合的控制系统结构，并从安全性方面进行了详细的分析，确定了机器人的结构参数。对两种机器人运动策略的方法进行了比较分析。
In order to realize the automatic inspection of the lining defect of the construction surface, and make the surface of construction repair work effectively, researching a kind of robot can crawl in the construction surface and do nondestructive testing. According to the characteristics of the surface of the construction, putting forward the overall design scheme of climbing robot, determining its key components, and designing control system structure in the combination of electric and pneumatic, and carrying on the detailed analysis from the safety, the robot structure parameters is determined. A comparative analysis is made on the method of two kinds of robot movement strategies.