装配式桥面结构具有工业化程度高、现场湿作业量小等突出优势，在钢-混凝土组合桥梁中有广阔的应用前景。然而，现阶段预制桥面系也存在连接构造复杂引起的施工效率低下与施工人员高坠风险大等问题。本文聚焦于装配式桥面系连接性能与建造效率的综合提升，对新型湿接缝构造及基于工业机器人的桥面板智能建造技术开展研究。取得的主要研究成果如下：（1）针对叠合桥面板施工过程中外伸横向钢筋与栓钉连接件之间的碰撞问题提出了板端开槽型连接构造。基于5组大比例尺组合梁的四点弯曲试验分析了开槽型叠合桥面板的纵向剪切性能。明确了槽口几何构造、横向配筋方案及新旧混凝土界面处理对组合梁纵向剪切性能的影响，并提出了标准化设计方案。（2）为进一步降低现场湿作业量并提升施工效率，提出了适用于全预制桥面系的板端开槽型环形钢筋湿接缝，解决了接缝内钢筋拥挤、焊接接头众多等问题。基于3组9个桥面板弯曲受力性能试验与有限元分析揭示了湿接缝内环形钢筋的传力路径，分析了搭接长度、混凝土强度及剪切钢筋配置对接缝受力性能的影响。（3）为满足全跨预制、整孔拼装对组合桥梁建造效率提出的更高需求，提出了界面具齿槽的隐藏式通道构造。基于5组大比例尺组合梁的弯曲受力性能试验，研究了湿接缝内纵向剪力的传递路径及组合梁界面滑移分布特征，提出了纤维增强齿槽及桥面板整孔拼装方案，兼顾结构整体性与施工效率。（4）开发了基于工业机器人的组合桥面系智能建造方案，从创新施工方法的角度进一步提高建造效率并消除人工辅助汽车起重机安装的高坠风险，构建了横桥向足尺的开槽型叠合板组合梁智能建造平台。基于机器人操作系统整合工业机器人及其行走机构与深度视觉系统，实现了预制板的空间定位抓取与自动化安装。（5）为确保施工阶段工业机器人在梁上运行时的稳定性，依托智能建造平台监测了工业机器人施工阶段钢箱梁的动力响应。通过多测点振动加速度监测，明确了机器人运行速度、腹板加劲肋布置等因素对桥梁振动的影响。本论文得到国家自然科学基金青年科学基金项目（A类）（52325802）与原创探索计划项目延续资助（52450008）资助。
Prefabricated deck panel systems exhibit significant advantages such as accelerated on-site assembly and high levels of industrialization in construction, making them highly promising for steel-concrete composite bridges. However, current engineering practices face challenges including sophisticated joint details, fit-up issues, and fall hazards for workers. Focusing on the comprehensive enhancement of construction efficiency and structural performance of prefabricated bridge deck systems, this paper proposes and investigates novel joint details and robotic-based intelligent construction techniques for deck panels. The main results and achievements are shown as follows:(1)Notched connection is proposed to resolve fit-up issues during the erection of precast deck panel systems, which are induced by the interference between protruding slab reinforcement and stud connectors. Four-point bending tests on five large-scale composite beams reveal the longitudinal shear behavior of partial-depth deck panel (PDDP) systems with notched connections, and the influence of notch geometry, arrangements of transverse reinforcement, and surface preparation methods on the failure characteristics and moment capacity is investigated. (2)To further reduce in-situ concrete casting and improve the erection efficiency, which is hindered by labor-intensive welding operations and fit-up issues, full-depth deck panel (FDDP) systems with notched double-loop connection is developed. A total of nine full-scale deck panels are examined under flexural loading, with extensive finite element analyses performed accordingly. The analysis results reveal the mechanisms of load transfer between U-bars and clarify the influence of concrete strength, U-bar lap length, and configuration of shear reinforcement on joint performance.(3)Full-depth deck panel (FDDP) systems with hidden continuous channels and shear key connections are proposed to enable the full-span erection of bridge decks. Flexural tests on five large-scale composite beams are conducted to investigate the transfer path of longitudinal shear forces within the wet joints and the distribution of interface slip along the beam axes. The full-span erection method and innovative configuration of hidden continuous channels with fiber-reinforced shear keys ensures both the structural integrity and construction efficiency of precast deck panel systems. (4)To mitigate the labor-intensive nature and to eliminate falls in construction during the assembly of precast deck panels, composite bridges adaptable to industrial robot assembly are developed, featuring an uneven distribution of stud connectors and precast deck panel systems with notched connections. An experimental platform for intelligent construction is established, where a double-cell box steel girder, an industrial robot with a linear track and vision systems are integrated through Robot Operating System (ROS). The novel platform achieves precise grasping and automated installation of precast panels.(5)Based on the experimental platform for intelligent construction, the dynamic response of the steel box girder is examined through multiple triple-axis accelerometers during the phase of industrial robot construction. The effects of robot operating speed and layout of web stiffeners on the time domain and frequency domain characteristics of bridge vibration signals are analyzed, which ensures the stability of industrial robots operating on girders during construction.This dissertation is sponsored by the Distinguished Young Scientists Fund Program (52325802) and the Original Exploratory Program (52450008) of the National Natural Science Foundation of China.
