中文摘要：

针对斜拉索的特征，提出一种在役斜拉索检测机器人技术方案．采用模块化可重构磁性检测技术，利用磁性检测系统励磁场产生的磁场力作为机器人沿斜拉索爬升所需的附着力，使单元模块同时具有检测及爬升功能．根据不同的拉索直径，选用不同数量的模块进行重构形成对应的自主爬升检测机器人．理论分析及试验研究表明，该可重构斜拉索磁性检测机器人可对不同直径、任意倾斜角的斜拉索进行无损检测，具有体积小、重量轻、安全可靠等特点，有良好的应用前景．

英文摘要：

In this paper, according to the characteristics of cable, a new robot technology for cable inspection is developed. Modular reconfigurable magnetic testing technology is used, that makes use of magnetic field strength existing in magnetic detection system as the necessary adhesion of a robot climbing tect different diameter, arbitrary inclination angle cable for NDT, and it is small in size, light in weight , safe and reliable, and has a good application prospect.