216 Running Ability Evaluation of Bridge Inspection Robot with Permanent Magnets

Kashinoki, Mikiji; Takada, Yogo; Kawai, Tadao; Koyama, Keisuke

doi:10.1299/jsmesed.2013.12.136

Cited by 2 publications

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“…When the spoke is not vertical but instead makes an angle to the vertical axis, the distance between the magnet and the steel surface is not uniform, as shown in Figure 6, so that the magnetic force varies with . One of the authors derives the following equation of the magnetic force [11]. The magnetic force is given by…”

Section: Magnetic Force Between Robot and Steel Pipe As Illustrated Inmentioning

confidence: 99%

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Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

Imajo

Takada

Kashinoki

2015

Journal of Robotics

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Terrestrial hermit crabs which are a type of hermit crabs live on land, whereas typical hermit crabs inhabit the sea. They have an ability of climbing a tree vertically. Their claws allow them to hang on the tree. In this study, an outer-pipe inspection robot was developed. Its locomotion mechanism was developed in imitation of the terrestrial hermit crab’s claws. It is equipped with two rimless wheels. Each of the spokes is tipped with a neodymium magnet, which allows the robot to remain attached to even a vertical steel pipe. Moreover, the robot has a mechanism for adjusting the camber angle of the right and left wheels, allowing it to tightly grip pipes with different diameters. Experiments were conducted to check the performance of the robot using steel pipes with different diameters, placed horizontally, vertically, or obliquely. The robot attempted to move a certain distance along a pipe, and its success rate was measured. It was found that the robot could successfully travel along pipes with vertical orientations, although it sometimes fell from oblique or horizontal pipes. The most likely reason for this is identified and discussed. Certain results were obtained in laboratory. Further experiments in actual environment are required.

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Section: Magnetic Force Between Robot and Steel Pipe As Illustrated Inmentioning

confidence: 99%

“…Their claws allow them to hang on the tree. In imitation of the terrestrial hermit crab's locomotion mechanism, we have previously developed a four-wheel-drive bridge inspection robot with rimless wheels [11]. The terrestrial hermit crabs have some legs.…”

Section: Introductionmentioning

confidence: 99%

Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

Imajo

Takada

Kashinoki

2015

Journal of Robotics

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Making a three-dimensional map in complicated environment by using a bridge inspection robot with a laser range finder

Imajo

Tajiri

Kashinoki

et al. 2016

Transactions of the JSME (In Japanese)

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Many infrastructures such as bridges and tunnels had been constructed in various parts of Japan during the high economic growth period. They need periodic inspection because they are aging. Inspecting them by inspector is both costly and time-consuming. There is a strong demand for practical bridge inspection robots to reduce the costs and times. The inspection robot running autonomously on the bridge needs to determine moving route and to estimate self-position. The robot must have a three dimensional map of the bridge to take these actions. This paper proposes a method of making a three-dimensional occupancy grid map of the large scale infrastructure where the inspector cannot go easily such as an underside of the bridge. A bridge inspection robot equipped with magnets had been developed in present study. We attached a measuring device which consists of a small 2D laser range finder and a servo motor. Experiments were conducted to make the 3D map by using the robot. The robot climbed to target position on the wall without falling although it was equipped with the measuring device which is heavy. Moreover, the robot can make the 3D occupancy grid map and the map can be useful to inspect bridges.

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216 Running Ability Evaluation of Bridge Inspection Robot with Permanent Magnets

Cited by 2 publications

References 0 publications

Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

Development and Evaluation of Compact Robot Imitating a Hermit Crab for Inspecting the Outer Surface of Pipes

Making a three-dimensional map in complicated environment by using a bridge inspection robot with a laser range finder

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