SUMMARY Cable is the most important bearing structure of the cable-stayed bridges. Its safety has been of crucial public concern. Traditional manual cable inspection method has many defects such as low inspection efficiency, poor reliability and hazardous working environment. In this paper, a new wirelessly controlled cable-climbing robot enabling safe and convenient inspection of stay cables is proposed. The designed robot is composed of two modules, joined by four turnbuckles to form a closed structure that clasps the cable. The robot is controlled wirelessly by a ground-based station, and a DC power is supplied via an onboard lithium battery. The climbing principle and mechanical structure of this robot are introduced. The static model of the robot during obstacle negotiation is established. The relationships of the driving force and resistance with obstacle height to determine the obstacle-negotiation capability of the robot are obtained. The effects of cable diameter, cable inclination and preload force on obstacle climbing ability of the robot are also analyzed. The experiments verify that the robot could climb random inclined cables and overcome an obstacle of 2.42 mm in height with a mass of 5 kg payload.

中文翻译：

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斜拉桥拉索检测机器人的设计与实现

总结 拉索是斜拉桥最重要的承载结构。它的安全性一直是公众最关心的问题。传统的人工电缆检测方法存在检测效率低、可靠性差、工作环境危险等诸多缺陷。在本文中，提出了一种新型无线控制的爬索机器人，可以安全方便地检查斜拉索。设计的机器人由两个模块组成，由四个螺丝扣连接形成一个封闭的结构，用于扣住电缆。机器人由地面站无线控制，直流电源通过车载锂电池供电。介绍了该机器人的爬升原理和机械结构。建立了机器人在障碍物协商过程中的静态模型。获得了驱动力和阻力与障碍物高度的关系，以确定机器人的越障能力。分析了电缆直径、电缆倾角和预紧力对机器人越障能力的影响。实验验证了机器人可以攀爬随机倾斜的电缆，并以 5 kg 的有效载荷克服高度为 2.42 mm 的障碍物。