Abstract
A parallel mechanism and smart gripper was designed and mounted on a rotorcraft drone to act as a robotic arm and hand. This empowers the drone to perform aerial manipulation and execute bridge maintenance. Hosing, drilling, and epoxying serve as case studies to test-and-evaluation and verify-and-validate the design. The approach, tasks, and findings are presented and show that the case studies are realizable. Conclusions and recommendations point to employing haptics-based human-in-the-loop approaches that can increase the scope of repair work involved in bridge maintenance.
Recommended Citation
Oh, Paul; Hament, Blake; and Kim, Dongbin, "Mobile-manipulating UAVs for Sensor Installation, Bridge Inspection and Maintenance" (2020). Project AS-1. 1.
https://scholarsmine.mst.edu/project_as-1/1
Research Center/Lab(s)
INSPIRE - University Transportation Center
Sponsor(s)
Principal Investigator: Paul Oh
Grant Period: 30 Nov 2016 - 30 Sep 2022
Project Period: 31 Mar 2017 - 31 Mar 2020
Keywords and Phrases
Bridge Maintenance; Drones; Manipulation
Report Number
INSPIRE-004
Document Type
Technical Report
Document Version
Final Version
File Type
text
Language(s)
English
Rights
© 2020 Missouri University of Science and Technology, All rights reserved.
Publication Date
31 Mar 2020
Comments
Principal Investigator: Paul Oh
Grant Period: 30 Nov 2016 - 30 Sep 2022
Project Period: 31 Mar 2017 - 31 Mar 2020