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Cable robot is capable of carrying the related equipment climbing ropes and their crawling robot aerial work . Its appearance is the inevitable product of the various disciplines in recent years , technology development , human exploration and improved production methods continue . This automation equipment can not only complete the cable-stayed bridge rope detection , cleaning , spraying , tasks such as color equipment , but also can be applied in other similar areas of production of cable structures , very substantial economic benefits . In this paper in order to achieve the cable-stayed bridge cables intelligent , quick detection target by analyzing the research , a new , electrically driven cable-stayed bridge Cable Inspection Robot structure program . The robot symmetrical frame structure design , small size , light weight, efficient detection function of the cable-stayed bridge rope , modified , and can also perform other aerial work tasks . The main body portion of the robot is approximately an equilateral triangle , from three of the same model of motor - driven , by symmetrically distributed in the body on both sides of the six wheels to achieve the movement of the robot . Robot drive system uses the timing belt drive , the detection speed requires about 1.5m/min closed-loop motion control system by the encoder on the drive wheels . The basis of the proposed overall structure of the program , the robot kinematics and motion synchronization analysis , considering the the robot upward creeping and crawling down movement requirements , deduced the robot drive attached conditions , motor election the type of calculation and components designed to provide the necessary basis and reference . The use of three-dimensional design software Pro / ENGINEENR established a solid model of the robot , and combined with the structural characteristics of the robot , use Mechanica module in the software of the key components of the robot structure optimization design its structure to achieve the lightweight optimization purposes , greatly reduce the quality of the robot body . Finally , in the institutional design of the software module robot motion simulation analysis , simulation robot movement process , test the interference between the various components and the trajectory of the robot .
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