Development Of A Saddle-in Robot For The Main Cable Of A Suspension Bridge

In the construction of a suspension bridge,the erection of the main cable is a very important construction step,especially in the saddle-entry link of the main cable,which has many steps,cumbersome operations and high construction requirements.In traditional construction technology,each step is basically manual operation,which has problems such as high risk and low efficiency.In view of these problems,this paper designs a main cable saddle-entry robot system.With its assistance,it can improve the efficiency of bridge construction,ensure the safety of construction workers,and promote the development of bridge intelligent construction technology.Firstly,through the analysis of the construction process,the overall design scheme of the saddle-in robot system is determined,including the structural design of the lifting module,winding module,end manipulator and leg-lifting module,locking module,and suspension module of the cable-adjusting robot,and gives their detailed workflow.Secondly,based on the method of establishing the robot D-H coordinate system and Monte Carlo method,the kinematic analysis and workspace analysis of the cable-adjusting robot are carried out,and the static simulation of the end arm of the cable-adjusting robot is carried out to understand the static performance of the cable-adjusting robot.Then,the control system of the main cable into the saddle robot is designed,and the motion control function of the robot system is realized.Complete the design of each module of the hardware platform according to the overall scheme of the control system.The software system includes the software design of the lower computer and the upper computer,the PID control of the robot.At the same time,the TCP/IP communication protocol is optimized so that it can better meet the communication requirements of the saddle robot system.In the end,the prototypes of the cable-adjusting robot and the cable-passing robot of the saddle-entry robot system were completed,and their respective experimental platforms were built.Experiments show that the cable-adjusting robot can complete the torsion and shaping of the main cable,and the functionality of the cable-passing robot also meets the design requirements.