Kinematic analysis and optimization of operational position for specialized robots used for inspecting the underbound surface of bridges
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Specialized mobile robots for under-bridge inspection and maintenance play a crucial role in ensuring the safety and operational reliability of transportation infrastructure. This paper focuses on kinematic analysis and the optimization of operational positioning to enhance equipment efficiency. First, a kinematic model is developed based on the Denavit–Hartenberg (D-H) matrix method, enabling the accurate determination of the workspace envelope and the effective working radius. Based on these kinematic characteristics and optimization theory, the study proposes an algorithm for optimizing the base vehicle's stopping positions, subject to strict geometric constraints regarding surface coverage and safe overlap margins. Simulation results demonstrate that the proposed approach identifies an optimal step size that guarantees 100% accessibility to the bridge underside while minimizing the number of vehicle stops, thereby significantly improving operational efficiency.
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