Abstract

Orthotropic steel deck (OSD) are widely used in steel bridges because of their many advantages, but the structures and stresses of OSD are complex and sensitive to fatigue. Based on the model test, the structural fatigue analysis of OSD is carried out by using the extended finite element method (XFEM) to understand and reveal the causes of fatigue detail cracks and the generation and propagation of fatigue cracks at the welding ends of diaphragms, U-ribs, and diaphragms, which are the main structural fatigue details of the deck. The results show that: the fatigue crack at the diaphragm opening is not caused by a single factor, but the horizontal relative displacement is the root-cause of the fatigue crack; the contribution of out-of-plane displacement to the fatigue crack is more significant than that of vertical displacement or in-plane stress, which often leads to the initiation and propagation of the fatigue crack; the crack-propagation direction is perpendicular to the contour of principal stress, and the crack propagates into the plate along the high-stress area in the horizontal direction, which is in accordance with the basic theory of crack propagation. The research methods can provide technical support for the design of similar structures.

No abstract

In automatic spraying of spray painting robot, in order to solve the problems of coating growth rate modeling for varied dip-angle spraying technology, a prediction mode of coating growth rate using the Gaussian sum model is proposed. Based on the Gaussian sum model, a theoretical model for coating growth rate with varied dip-angle spraying is established by using the theory of differential geometry. The coating thickness of the sample points in the distribution range of the coating was obtained by making the experiment of varied dip-angle spraying. Based on the theoretical model, the nonlinear least square method is used to fit the coating thickness of the sample points and the parameter values of the theoretical model are calculated. By analyzing the variation law of the parameters with the spray dip-angle, the prediction model of coating growth rate for varied dip-angle spraying is established. Experiments have shown that the prediction model has good fitting precision; it can satisfy the real-time requirement with varied dip-angle spraying trajectory planning in the offline programming system.

In order to solve the problem of low spraying efficiency and excessive paint waste caused by overspray when the robot automatically sprays irregular plane, a method of spray trajectory planning with boundary-constrained considering spray gun changing posture is proposed. The static spraying model of the spray gun with variable posture, and the dynamic spraying model of the spray gun along the arc path are established separately, an optimization method for the symmetry of coating distribution based on the variable spray angle when the gun spraying along the arc path is proposed. Orthogonal experiment method based on numerical simulation is used to clarify the influence of boundary curve shape and spray gun posture on boundary constraint distance, the prediction of the value range of the boundary constraint distance at the boundary of different curvature radius is realized. Within the range of the value of the boundary constraint, combined with the equal division method of the plane intercept line and the distance search method, a boundary constraint spray path generation algorithm is established by setting a uniform boundary constraint distance value. Finally, a multivariable spraying parameter optimization algorithm based on PSO is established, the spraying velocity, spraying height and spraying angle in the dynamic spraying process are solved, and the coating uniformity is optimized. The effectiveness and feasibility of the proposed spray trajectory planning method is verified by robot spraying experiment for any irregular plane.INDEX TERMS Irregular plane, spraying robot, boundary constraint, variable posture, trajectory planning.