By Topic

Structure Design and Kinematical Analysis of a New Type Cable Climbing Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Minbo Zheng ; Coll. of Mechatron. Eng., China Jiliang Univ., Hangzhou, China ; Yuntang Li ; Jun Li ; Keming Yuan

To meet the urgent requirements of automatic operation for cable inspection and maintenance, a new type continuous moving cable robot structure is designed in this paper. The robot has six wheels and driven by three motors, which makes the robot can move faster and more stable even there are barriers along cable. Firstly, the mechanism and working principle of the robot is described. Then the kinematics characteristics of the robot are analyzed based on working condition. The adhesive force, critical driving force and the maximum driving force are calculated considering the dynamic demands of the robot working in obstacle-surmount and non-obstacle-surmount state. Finally, motor parameters are decided according to forces requirement.

Published in:

Intelligent Human-Machine Systems and Cybernetics (IHMSC), 2010 2nd International Conference on  (Volume:1 )

Date of Conference:

26-28 Aug. 2010