Description

This paper presents a novel design of steel bridge/structure inspection robot. Compared to most existing robots designed to work on particular surface contour of steel structures such as flat or curving, the proposed roller chain-like robot can implement and transfer smoothly on many kind of steel surfaces. The developed robot can be applied to inspection tasks for steel bridges with complicated structures. The robot is able to carry cameras, sensors for visual and specialized examination. Rigorous analysis of robot kinematics, adhesion force and turn-over failure has been conducted to demonstrate the stability of the proposed design. Mechanical and magnetic force analysis together with turn-over failure investigation can serve as an useful framework for designing various steel climbing robots in the future. Experimental results and field deployments prove the adhesion, climbing, inspection capability of the developed robot.

Location

St. Louis, Missouri

Start Date

8-6-2019 1:40 PM

End Date

8-6-2019 2:00 PM

Meeting Name

INSPIRE-UTC 2019 Annual Meeting

Comments

Financial support for this study was provided by the U.S. Department of Transportation, Office of the Assistant Secretary for Research and Technology (USDOT/OST-R) under Grant No. 69A3551747126 through INSPIRE University Transportation Center (http://inspire-utc.mst.edu) at Missouri University of Science and Technology.

Document Type

Article - Conference proceedings

Document Version

Final Version

File Type

text

Language(s)

English

Source Publication Title

Proceedings of the 9th International Conference on Structural Health Monitoring of Intelligent Infrastructure (2019: Aug. 4-7, St. Louis, MO)

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Aug 6th, 1:40 PM Aug 6th, 2:00 PM

Roller Chain-Like Robot for Steel Bridge Inspection

St. Louis, Missouri

This paper presents a novel design of steel bridge/structure inspection robot. Compared to most existing robots designed to work on particular surface contour of steel structures such as flat or curving, the proposed roller chain-like robot can implement and transfer smoothly on many kind of steel surfaces. The developed robot can be applied to inspection tasks for steel bridges with complicated structures. The robot is able to carry cameras, sensors for visual and specialized examination. Rigorous analysis of robot kinematics, adhesion force and turn-over failure has been conducted to demonstrate the stability of the proposed design. Mechanical and magnetic force analysis together with turn-over failure investigation can serve as an useful framework for designing various steel climbing robots in the future. Experimental results and field deployments prove the adhesion, climbing, inspection capability of the developed robot.