Design and implementation of the wheel-clamping stay cable inspection robot
Yongming Wang,
Xiang Li,
Mingxing Yang
et al.
Abstract:A new wheel-clamping type inspection robot for bridge stay cables was designed. Its clamping mechanism adopts a four-auxiliary-two-drive wheel clamping scheme, and the driving unit utilizes a single motor with double output shaft. A simple automatic control system of the robot was designed based on Arduino. Then, the diameter range of the stay cable that the robot can hold was calculated. The mechanical model of the robot under clamping condition was established. The curves for the minimum thrust Fe and drivin… Show more
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