Abstract
The cable detection robot is of great significance to the automatic maintenance of Bridges. In order to ensure the climbing stability of the detection robot, a spring - magnetorheological damping coupling loading mechanism was proposed. Firstly, aiming at the influence of vibration and disturbance on cable safety performance of heavy-duty climbing robot, a robot-cable coupling dynamic model was established. Secondly, the vibration suppression mechanism of the robot with variable damping was studied, and a variable damping coupling loading mechanism was proposed for the climbing robot. Thirdly, an adaptive controller for cable-climbing robot acting on multiple coupling loading mechanisms under random disturbance is designed. Finally, experiments were carried out to verify the vibration suppression effect of the coupling loading mechanism and improve the safety and detection performance of the robot-stay cable system.
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Acknowledgements
This project is supported by the National Natural Foundation of China (52175100), the Primary Research & Development Plan of Jiangsu Province (BE2018734), the Natural Science Foundation of Jiangsu Province (BK20201379), and Six Talent Peaks Project in Jiangsu Province (JY-081).
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Shi, W., Ma, K., Lu, J., Xu, F. (2021). Research on Damping Control of Cable-Climbing Robot Based on Spring-Magnetorheological Damping Coupling Mechanism. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_71
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