中南大学学报（自然科学版）2025，Vol.56Issue(6)：2236-2247,12.DOI:10.11817/j.issn.1672-7207.2025.06.009
正交异性钢桥面板磁轮式攀爬机器人的结构动态设计与优化
Structural design and optimization of magnetic climbing robot based on dynamic inspection of othotropic steel decks
摘要
Abstract
The proposed and developed inspection robot provides a feasible solution for automatic inspection of fatigue damage of orthotropic steel decks(OSDs)of steel bridges.In this paper,based on the environmental boundary characteristics of OSDs and requirements of automatic inspection,the development process of inspection robot is designed,mechanical dynamics analysis is carried out for selected permanent magnet wheeled robot structure,and the unfavorable stages in dynamic movement of robot and the main factors affecting the stability are analyzed.Motion stability of the robot was analyzed according to the magnetic adsorption force,form of guide frame and motion speed.Finally,the prototype is manufactured and tested.The results show that too large magnetic wheel adsorption force will cause the robot to fail to realize the wall transition,while too small adsorption force will cause the robot to overturn and slip instability.In addition,size of robot,angle of the guide frame and driving speed will affect the stability of robot inspection process.The wall transition stage is the most dangerous stage in the inspection process of magnetic wheeled robot.According to the simulation results,the permanent magnet wheeled robot system has good overall performance,stable movement,and can complete the specified motion behavior during OSDs inspection,indicating that the development and design method of"dynamic reliability evaluation index-parameter optimization criterion-experimental verification system"proposed in this study provides a theoretical paradigm for the research and development of steel structure special robots.关键词
爬壁机器人/磁吸轮/正交异性钢桥面板/结构设计/动态仿真分析Key words
wall-climbing robot/magnetic wheel/orthotropic steel decks/structure design/dynamic simulation analysis分类
交通工程引用本文复制引用
李心诚,傅中秋,树加凯,吉伯海,暨邦冲..正交异性钢桥面板磁轮式攀爬机器人的结构动态设计与优化[J].中南大学学报（自然科学版）,2025,56(6):2236-2247,12.基金项目
国家自然科学基金资助项目(52378153)(Project(52378153)supported by the National Natural Science Foundation of China) （52378153）
