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Pressure Analyses and Experiments of a Pneumatic Cable-Climbing Robot 

ZHANG Jia-liang, LÜ Tian-sheng, SONG Li-bo, Yao Xiang-gen
(School of Mechanical and Power Eng., Shanghai Jiaotong Univ., Shanghai 200030, China)

Abstract: Aiming at the maintenance of the cables of variable diameters and rough surface to some extent in overall length, a mechanism model of a pneumatic worming cable-climbing robot was put forward. Then, the mechanical models of the cylinder airloads and the pressure loss of the altitude air-pipe were created and the engineering examples were simulated. Finally, an engineering prototype machine was developed and experiments were done on the Xupu Bridge. It indicated that the air-pipe pressure loss of the robot was nonlinear and direct proportional to its operation distance, height, air consumption and gradient of the pipe; the robot could climb down at an evener velocity than that up, and could climb stay cables safely and efficiently.
Key words: pneumatic robot; cable; air pressure loss; cable-stayed bridge

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