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Climbing Mechanism Design and Fuzzy PID-Based Control for a Stay Cable De-Icing Robot.

Yaoyao Pei1, Shunxi Li1, Zhi Chen1,2

  • 1School of Civil Engineering, Hubei University of Technology, Wuhan 430068, China.

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|November 13, 2025
PubMed
Summary
This summary is machine-generated.

Robotic de-icing systems for cable-stayed bridges improve safety and efficiency. A novel climbing mechanism with fuzzy PID control enhances adaptability and reduces response time by 50% in icy conditions.

Keywords:
clamping forceclimbing mechanismfuzzy PID controlstay cable

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Area of Science:

  • Civil Engineering
  • Robotics
  • Materials Science

Background:

  • Ice accumulation on cable-stayed bridges poses structural risks and traffic hazards.
  • Current manual de-icing methods are inefficient and unsafe.
  • Robotic de-icing is an emerging solution for bridge maintenance.

Purpose of the Study:

  • To develop a robotic system for efficient and safe de-icing of bridge stay cables.
  • To address challenges in stable climbing performance on variable icy surfaces.
  • To improve the adaptability and control of robotic de-icing operations.

Main Methods:

  • Designed a climbing mechanism with a grooved-track drive and spring-assisted lead screw clamping.
  • Implemented a fuzzy PID control strategy for adaptive clamping force and climbing speed.
  • Conducted Simulink simulations and indoor climbing experiments for validation.

Main Results:

  • The fuzzy PID controller reduced response time by approximately 50% compared to traditional PID.
  • The system demonstrated enhanced adaptability in icy environments.
  • Climbing speed error was maintained within ±1.5%, improving overall performance.

Conclusions:

  • The developed robotic system effectively addresses challenges in stay cable de-icing.
  • Fuzzy PID control significantly improves robotic climbing performance on icy surfaces.
  • This technology offers a safer and more efficient alternative to manual de-icing.