Research on reconfigurable robot technology for cable maintenance of cable-stayed bridges in-service

In this paper, according to the technical characteristics of the maintenance of cable of cable-stayed bridges, a new robot for cable maintenance is developed. The climbing equipment, the surface inspection equipment and the internal defects inspection equipment, the cleaning equipment, the spraying equipment for cable maintenance are all designed as reconfigurable module. According to different cable diameters, different numbers of robot modules are reconstructed to form corresponding maintenance robot. The magnetic mechanisms that are used in the climbing equipment of robot keep the robot cling to the cable. The robot can climb cable along by wheels which installed on it. The robot has many advantages, such as simple structure, easy manipulative, fast moving, the less damage to the cable and the good adaptability to the shape of the cable.