Development of a Bridge Inspection Robot Working in Three-Dimensional Environment (Evaluation of Driving Performance of a Moving Mechanism with Permanent Magnets)

Takada, Yogo; Kirimoto, Kousuke; Tajiri, Tomoki; Kawai, Tadao

doi:10.1299/kikaic.79.3135

Cited by 15 publications

(5 citation statements)

References 3 publications

(1 reference statement)

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“…However, they can examine only a small portion of the desired inspection area, such as flat sections or deck sections. We have designed and built various magnetic robots that can inspect a variety of areas [10,11]. These robots can travel on complex three-dimensional paths because they are equipped with magnetic, rimless wheels.…”

Section: Introductionmentioning

confidence: 99%

Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads

Matsumura¹,

Shiba²,

Takada³

2018

Int J Robot Eng

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Section: Introductionmentioning

confidence: 99%

Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads

Matsumura¹,

Shiba²,

Takada³

2018

Int J Robot Eng

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“…Therefore, it is not possible for a robot to run through the traveling path in the absence of measures for the splicing parts. For example, it is not possible for previously developed robots [8,9] or old-type BIREM [10] introduced in Section 1 to run through the splicing parts because there are no measures set in place to overcome this obstacle. Figure 2 shows the physical relationship between the wheel track of a new prototype robot named BIREM 3rd and the bolts on the splicing parts.…”

Section: Splicing Parts In a Box Girdermentioning

confidence: 99%

“…BIREM moves while adsorbing to the steel wall using a rimless wheel with attached magnets [10,11]. Additionally, BIREM has a high success rate while traveling between a ceiling and a vertical wall.…”

Section: Introductionmentioning

confidence: 99%

Development of a Bridge Inspection Robot Capable of Traveling on Splicing Parts

2017

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Several infrastructures, such as bridges and tunnels, require periodic inspection and repair to prevent collapse. There is a strong demand for practical bridge inspection robots to reduce the cost and time associated with the inspection of bridges by an inspector. Bridge inspection robots are expected to pass through obstacles such as bolted splice part and right-angled routes. The aim of this study involved developing a bridge inspection robot that can travel on a right-angle path as well as splicing parts. A two-wheel-drive robot was developed and equipped with two rimless wheels as driving wheels. A neodymium magnet was provided at the tip of each spoke. Non-driving wheels were attached at the rear as a rotatable caster. The robot can turn on the spot to avoid the bolt on the splicing part. Experiments were conducted to check the performance of the robot. The results confirmed that the robot passed through the internal right-angle paths in a laboratory and in an actual environment that corresponds to a box girder of a bridge. It is extremely difficult to manually control a robot on the splicing part. Therefore, a camera and an LED (light emitting diode) were attached to autonomously control the robot. The results indicate that the newly developed robot could run through the splicing part without hitting the nuts.

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“…In the past research, similar connecting joints for different modules are designed. In literature (Takada et al , 2013; Zhu et al , 2012; Guo, 2012), flexible compliant beams made of spring steel and spring were used to combine the front module and the rear module. With this kind of passive compliant joint, the robot has the ability of bending and twisting to negotiate external corners or other kinds of obstacles.…”

Section: Robot Designmentioning

confidence: 99%

“…They developed some excellent robots such as MagneBike in 2009 (Tâche et al , 2009). A design of a steel bridge inspection robot developed by Yogo Takada was published in 2013 (Takada et al , 2013). Giuk Lee and Geeyun Wu developed a high-payload climbing robot for heavy material conveyance and inspection of vessels or steel bridges named Combot (Lee et al , 2012).…”

Section: Introductionmentioning

confidence: 99%

Development of climbing robot for steel bridge inspection

Wang

Kawamura

2016

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Purpose The purpose of this paper is to present a design of climbing robot with magnetic wheels which can move on the surface of steel bridge. The locomotion concept is based on adapted lightweight magnetic wheel units with relatively high attractive force and friction force. Design/methodology/approach The robot has the main advantages of being compact (352 × – 215 × – 155 mm), lightweight (2.3 kg without battery) and simple mechanical structure. It is not only able to climb vertical walls and follow circumferential paths, but also able to pass complex obstacles such as bolts, steps, convex and concave corners with almost any inclination regarding gravity. By using a servo as a compliant joint, the wheel base can be changed to enable the robot to overcome convex corners. Findings The experiment results show that the climbing robot has a good performance on locomotion, and it is successful in negotiating the complex obstacles. On the other hand, the limitations in locomotion of the robot are also presented. Originality/value Compared with the past researches, the robot shows good performance on overcoming complex obstacles such as concave corners, convex corners, bolts and steps on the steel bridge. Magnetic wheel with the characterization of compact size and lightweight is able to provide bigger adhesion force and friction coefficient.

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Development of a Bridge Inspection Robot Working in Three-Dimensional Environment (Evaluation of Driving Performance of a Moving Mechanism with Permanent Magnets)

Cited by 15 publications

References 3 publications

Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads

Development of Magnetic Bridge Inspection Robot Aimed at Carrying Heavy Loads

Development of a Bridge Inspection Robot Capable of Traveling on Splicing Parts

Development of climbing robot for steel bridge inspection

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