摘 要：为了解决悬索桥主缆自主检修仪器搭载平台问题，通过结构设计解决悬索桥主缆检测机器人的自主行走的越障、振动稳定性、自适应轨迹等问题，最后实现悬索桥主缆损伤检测机器人能搭载检测设备并能沿着主缆轨迹自主移动进行主缆损伤检测，同时能躲避主缆上障碍结构，并具有一定的抗震动、抗风的稳定性，该文提出一种悬索桥主缆损伤检测机器人机械结构。
关键词：悬索桥；主缆探伤；机器人设计
中图分类号：TP242；U448.25 文献标识码：A 文章编号：2096-4706（2020）22-0130-03
Design of the Flaw Detection Robot for the Main Cable of Suspension Bridge
ZHAO Wenrui，WANG Dagang，LIU Chang，XU Shanchao，LIU Tao
（School of Mechatronic Engineering，China University of Mining and Technology，Xuzhou 221116，China）
Abstract：In order to solve the problem of the carrying platform for autonomous inspection instrument of the main cable of the suspension bridge，the structure design solves the problems of the autonomous walking of the suspension bridge main cable detection robot，such as obstacle crossing，vibration stability，and adaptive trajectory. Finally，it is realized that the main cable damage detection robot of the suspension bridge can be equipped with detection equipment and can move autonomously along the main cable trajectory for main cable damage detection. At the same time，it can avoid the obstacle structure on the main cable and has a certain degree of stability against vibration and wind. In this paper，a mechanical structure of main cable damage detection robot for suspension bridge is proposed.
Keywords：suspension bridge；flaw detection of main cable；robot design
基金项目：中国矿业大学大学生创新创业训练项目（201910290020Z）
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作者简介：赵文瑞（1998—），男，汉族，宝鸡陇县人，本科，研究方向：机械工程。