Mobile-manipulating UAVs for Sensor Installation, Bridge Inspection and Maintenance
Principal Investigator: Paul Oh
Grant Period: 30 Nov 2016 - 30 Sep 2022
Project Period: 31 Mar 2017 - 31 Mar 2020
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.
This paper has been withdrawn.
