CAJ | 학술논문

针对缆索的安全高效的维护，设计出一种履带式缆索机器人系统，机器人采用履带机构沿着缆索进行爬升，爬行能力强，运行稳定，柔性夹紧机构的设计使其能够自动适应缆索直径的变化，使整机结构新颖、紧凑；开发了适应缆索机器人工作环境要求的无线遥控控制系统。
침대람색적안전고효적유호，설계출일충리대식람색궤기인계통，궤기인채용리대궤구연착람색진행파승，파행능력강，운행은정，유성협긴궤구적설계사기능구자동괄응람색직경적변화，사정궤결구신영、긴주；개발료괄응람색궤기인공작배경요구적무선요공공제계통。
To have a high efficiency and security maintenance work, this paper presents a crawler-type cable-stayed robot system. The robot will climb along the cable by the crawler-type mechanism, which has a strong climbing capability and is running steady; besides, the design of the flexible clamp mechanism makes it easy to adjust the change of the cable diameter so that the composition of the robot is new and compact. It also develops wireless remote control system, which adapts to the work environment of the robot.