【摘要】 针对缆索落后的人工维护方式 ,研制了缆索类维护机器人以实现对缆索的自动清洗、检测、涂装等日常维护 .分析了在高空管道维护中包括机器人质量在内的多参数对管道线性动态响应的影响 ,并根据机器人以不同速度在管道上运动作业所产生的动态响应进行了数值仿真 .结果表明 ,移动机器人对管道的动态响应达到了静态响应的 1 .5倍更多还原

【Abstract】 Concerning the artificial maintenance method for cables, a cable maintenance robot (CMR) was developed, which is used for automatic maintenance of cables such as cleaning, line inspection, painting and so on. The effect of a moving mass and other parameters on the linear dynamic response of pipeline was analyzed in the course of applying CMR to the pipeline in high altitude. Furthermore, under the moving robot with a variety of constant velocity, numerical simulations of dynamic response were done, and the simulation results indicate that the ratio dynamic to static middlespan deflection amount to 1.5, which lay a foundation of CMR’s further application.更多还原