| 摘要: | 在鋼結構建築中，定期檢測和維護是確保結構安全和延長使用壽命的重要措施。然而，
鋼結構通常位於高處或難以觸及的地方，使得檢測過程變得複雜且有一定的危險性。
傳統的檢測和維修方式不僅需要大量人力和資源投入，且在鋼結構上進行吊掛做也具
有一定的危險性。為了解決這些問題，本研究開發了一款基於磁吸附與全向輪技術的
鋼結構攀爬機器人，以提高檢測效率並減少人力需求。本研究的目的是設計並驗證一
款結合全向輪與磁吸技術的攀爬機器人，該機器人能夠在鋼結構表面靈活移動並穩定
附著。透過全向輪機制，機器人能適應不同地形，在鋼結構上進行全方位的靈活移動，
遇到螺栓障礙時可以用橫向移動配合旋轉繞開；在比較狹小的空間也可以利用車體橫
向移動通過。在技術和方法方面，研究使用 3D 列印技術設計機器人的主要部分，確認
設計可以實現後，再使用鋁合金訂製而成輕量又具有高強度的機身。實驗結果顯示，
所設計的機器人在不同重量下的磁吸附力、不同角度的爬行能力、穿越螺栓的能力、
負載測試和爬行速度等方面均有良好表現。實驗結果表明，機器人的麥克納姆輪機制
顯著提高了其適應不同鋼結構上攀爬的能力，開發過程中，經歷了五個版本的設計，
使機器人可以更穩定吸附在牆面上為目標，並且能夠達到更快速、更高負載以及更靈
活的機動性。最後通過一系列實驗驗證了其性能和穩定性。未來，該機器人有望應用
於鋼結構檢測中，提供安全、高效的解決方案。
關鍵字：鋼結構檢測、攀爬機器人、磁吸附技術、全向輪、3D 列印;In steel structure buildings, regular inspection and maintenance are crucial for ensuring
structural safety and prolonging service life. However, steel structures are often located at high
or hard-to-reach places, making the inspection process complex and hazardous. Traditional
inspection methods require significant manpower and resources and pose dangers when
working at heights. To address these issues, this study developed a steel structure climbing
robot based on magnetic adhesion and omnidirectional wheel technology to enhance inspection
efficiency and reduce manpower requirements.The objective of this study is to design and
validate a climbing robot that combines omnidirectional wheels and magnetic adhesion
technology. This robot can move flexibly and adhere stably to steel surfaces. Through the
omnidirectional wheel mechanism, the robot can adapt to various terrains and perform flexible
movements in all directions on steel structures.The study used 3D printing technology to design
the main parts of the robot. After confirming the design′s feasibility, the robot body was custom-
made with lightweight yet high-strength aluminum alloy. Experimental results show that the
designed robot performs well in terms of magnetic adhesion under different weights, crawling
ability at various angles, ability to traverse bolt spacing, load testing, and crawling speed.The
experimental results demonstrate that the Mecanum wheel mechanism of the robot significantly
enhances its ability to adapt to climbing on different steel structures. The development process
included five design iterations, aiming for the robot to achieve more stable adhesion to the walls,
faster movement, higher load capacity, and greater flexibility. Finally, a series of experiments
validated its performance and stability. In the future, this robot is expected to be applied in steel
structure inspections, providing a safe and efficient solution.
Keywords: Steel Structure Inspection, Climbing Robot, Magnetic Adhesion, Omnidirectional
Wheel, 3D Printing |
