Development of a mathematical model of a robotic complex for non-destructive testing of steel cables

In order to improve the safety of lifting equipment, the task was set to create a new robotic complex for automated research of the technical condition and bearing capacity of steel cables in places that are difficult to access and dangerous for personnel. A new mathematical model of a robotic complex has been developed that describes the controlled movement of a magnetic flaw detector for performing technological procedures for non-destructive testing of steel cables. A mathematical model of the dynamics of the system is obtained using the Lagrange formalism. An algorithm for evaluating the control moments necessary for the implementation of programmed motion has been developed. Numerical simulation of the motion corresponding to the mode of approaching the magnetic flaw detector heads to the steel rope has been carried out. The graphs of the traction-speed characteristics and load diagrams of the drives providing the programmed movement of the links of the pantograph mechanism are presented. The results presented in this paper can be used to calculate the parameters of the power section of the electro-hydraulic drives included in the robotic device. The accuracy of performing flaw detection tasks is studied, taking into account the dynamics of the executive and measuring systems of the complex.