Abstract

A parallel mechanism and smart gripper were 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

Department(s)

Civil, Architectural and Environmental Engineering

Research Center/Lab(s)

INSPIRE - University Transportation Center

Sponsor(s)

Office of the Assistant Secretary for Research and Technology U.S. Department of Transportation 1200 New Jersey Avenue, SE Washington, DC 20590

Comments

Principal Investigator: Paul Oh

Grant #: USDOT # 69A3551747126

Grant Period: 11/30/2016 - 09/30/2024

Project Period: 03/31/2017 - 03/31/2020

The investigation was conducted under the auspices of the INSPIRE University Transportation Center.

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

© 2025 Missouri University of Science and Technology, All rights reserved.

Publication Date

March 31, 2020

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