Experimental studies on the dynamic behaviour of a robot cable-detecting system

Abstract

A cable-detecting robot usually works in a high-altitude environment that spans hundreds of meters. Thus, the stability and safety of the system are very important. To analyse further the dynamic performance of the robot–cable system, similar experimental models of cables on the Junshan Highway Bridge over the ChangJiang River are set up and vibration experiments are conducted. To study the effects of high-altitude wind load on the safe performance of the cable and on the climbing ability of the robot, transverse wind load is simulated and wind-load equivalent experiments on cable vibration are performed. The experimental results indicate that, under Grade 7 wind (wind velocity is less than 61 km/h), the vibration amplitude of the cable is significantly less than 2.5 D ( D is the diameter of the cable), although the vibration slightly increases. Under the circumstances, the cable cannot be damaged; therefore, the safety of the cable–robot system is demonstrated.