Design, dynamic modeling and testing of a novel MR damper for cable-stayed climbing robots under wind loads

Area of Science:

• Robotics
• Mechanical Engineering
• Materials Science

Background:

• Bridge construction equipment requires enhanced adaptability in high-altitude environments.
• Existing climbing robots face challenges with stability and control in variable conditions.
• Magnetorheological (MR) dampers offer controllable damping properties for dynamic systems.

Purpose of the Study:

• To design and evaluate a novel MR damper for cable-stayed climbing robots.
• To improve the adaptability and climbing stability of construction equipment in high-altitude settings.
• To establish a method for rapid selection of optimal working currents for the MR damper.

Main Methods:

• Development of a novel spring-MR fluid damper with three magnetic circuit units.
• Formulation of a robot-cable-wind coupling dynamic model using Hamilton's principle.
• Experimental verification of the MR damper's performance and its impact on robot climbing.

Main Results:

• Simulated maximum output force of the MR damper reached 204.60 N.
• Optimal working currents identified as 0.2 A (Force 4) and 0.4 A (Force 7).
• Experimental tests showed an average relative error of 4.60% for damping force.
• Mounted robot exhibited controlled climbing speed (0.66 mm/s), with low average (0.78%) and maximum (2.5%) relative errors.

Conclusions:

• The novel MR damper effectively enhances the climbing stability of robots.
• The developed approach enables rapid selection of optimal working currents for MR dampers.
• This technology significantly improves the adaptability of bridge construction equipment in high-altitude environments.