Development of Inspection Robots for Bridge Cables

Yun, Hae‐Bum; Kim, Se Hoon; Wu, Liuliu; Lee, Jong-Jae

doi:10.1155/2013/967508

Cited by 30 publications

(8 citation statements)

References 23 publications

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“…Several robots that can operate stably and inspect effectively have been developed and used (Yun et al , 2013). A vision inspection system was designed to detect surface damages on cables; it consists of a climbing robot, an image processing unit and four fixed cameras (Li et al , 2019).…”

Section: Introductionmentioning

confidence: 99%

Circumferentially rotatable inspection robot with elastic suspensions for bridge cables

Yin

Shi

et al. 2022

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Purpose Periodic inspection of bridge cables is essential, and cable-climbing robots can replace human workers to perform risky tasks and improve inspection efficiency. However, cable inspection robots often fail to surmount large obstacles and cable clamps. The purpose of this paper is to develop a practical cable inspection robot with stronger obstacle-surmounting performance and circumferential rotation capability. Design/methodology/approa/ch A cable inspection robot with novel elastic suspension mechanisms and circumferential rotation mechanisms is designed and proposed in this study. The supporting force and spring deformation of the elastic suspension are investigated and calculated. Dynamic analysis of obstacle surmounting and circumferential rotation is performed. Experiments are conducted on vertical and inclined cables to test the obstacle-surmounting performance and cable-clamp passing of the robot. The practicality of the robot is then verified in field tests. Findings With its elastic suspension mechanisms, the cable inspection robot can carry a 12.4 kg payload and stably climb a vertical cable. The maximum heights of obstacles surmounted by the driving wheels and the passive wheels of the robot are 15 mm and 13 mm, respectively. Equipped with circumferential rotation mechanisms, the robot can flexibly rotate and successfully pass cable clamps. Originality/value The novel elastic suspension mechanism and circumferential rotation mechanism improve the performance of the cable inspection robot and solve the problem of surmounting obstacles and cable clamps. Application of the robot can promote the automation of bridge cable inspection.

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Section: Introductionmentioning

confidence: 99%

Circumferentially rotatable inspection robot with elastic suspensions for bridge cables

Yin

Shi

et al. 2022

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“…They can measure bending strains of ±400 μm. Similarly, nondestructive testing (NDT), which use a robot to inspect bridge cables, requires a high-voltage X-ray tube and gamma rays for detecting wire cable damage at every 30 cm. , Some aircraft structures are made of a carbon fiber as a light material, but unpredictable discrete events can cause structural delamination. In addition, most modern aircrafts are made of a composite material structure, which can have complex failures, such as resin cracking, fiber breakout, and disjointing.…”

Section: Introductionmentioning

confidence: 99%

“…It can respond to stretch/failure, which is restricted to the glued zone of FBG wear. It also has weak deformation capability (25 kN), a narrow and uniform strain failure measurement range (<2%), and 1 mm m –1 resolution. − Some transducer strain sensors are only able to measure deformation (mm scales) and subject to inconsistency on unconventional surfaces. ,, Piezoresistive strain sensing is flexible, requires low power consumption, and is lightweight strain sensors; nevertheless, they require complex installation and wiring at point-of-testing sites. ,, It is highly desirable to develop low-cost, rapid, and wireless sensors for structure strain monitoring.…”

Section: Introductionmentioning

confidence: 99%

“…10−12 Some transducer strain sensors are only able to measure deformation (mm scales) and subject to inconsistency on unconventional surfaces. 7,13,14 Piezoresistive strain sensing is flexible, requires low power consumption, and is lightweight strain sensors; nevertheless, they require complex installation and wiring at point-of-testing sites. 4,15,16 It is highly desirable to develop low-cost, rapid, and wireless sensors for structure strain monitoring.…”

Section: ■ Introductionmentioning

confidence: 99%

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Conformable Holographic Photonic Ink Sensors Based on Adhesive Tapes for Strain Measurements

AlQattan

Benton

Yetisen

et al. 2019

ACS Appl. Mater. Interfaces

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Buildings, bridges, and aircrafts are frequently exposed to fluctuation loads which could start with a fine crack that instantly lead to unpredictable structure failures. The stationary strain sensors can be utilized, but they are costly and only detect limited deformations forms and sizes. Here, we fabricated photonic strain sensors on adhesive tapes which can provide realtime monitoring of irregular surfaces. Holographic interference patterning was used to produce non-linear curved nanostructures of 1D of (900 nm × 880 nm) and 2D from black dye film on a robust uniform adhesive layer and heat resistance tape. The patterned structure of the black dye was stable in broad pH environments. Diffracted light from the curved nanostructure detected the signal during structural damage, shift or material tear of 5 µɛ at less than 1.3 N cm-2. Additionally, the 2D nanostructure detected a surface change from x or y axis. Tilting the 1D structure within the range of 0.3° to 14.2° provided visible wavelength changes under broadband light to reveal early deflection signs. The curved nonpatterns could be also used for

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“…Several outer-pipe and bridge cable inspection robots have already been developed, and they are capable of moving along pipes and the cables. However, one type is incapable of overcoming obstacles on the surface of the pipe and the cable [5][6][7]. Another has a specialized mechanism for overcoming obstacles, but the mechanism is too bulky to allow them to be used with narrow pipes [8].…”

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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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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Development of Inspection Robots for Bridge Cables

Cited by 30 publications

References 23 publications

Circumferentially rotatable inspection robot with elastic suspensions for bridge cables

Circumferentially rotatable inspection robot with elastic suspensions for bridge cables

Conformable Holographic Photonic Ink Sensors Based on Adhesive Tapes for Strain Measurements

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

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