104 Study on the Moving Mechanism of Bridge Inspection Robot Working in Complicated Three-dimensional Environment

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  • 104 複雑立体環境場を活動対象とする橋梁検査ロボットの運動機構に関する研究(セッション1 超音波応用技術)

Abstract

As for social infrastructures such as a lot of bridges and tunnels that have been constructed in various places since the high economic growth age of postwar days, deterioration is serious, and taking action to the deterioration of infrastructures is desirable. In this research, we aim to develop the robot that can inspect cracks and corrosion under the steel bridge. We make a four-wheel driving robot for trial purposes, and it can ambulate and climb vertically. Strong permanent magnets are installed on the edge parts in the wheels. This robot does not fall by gravitation when it climbs a steel wall or runs along the ceiling upside down. The running performance of the robot is examined by the driving experiment and by the analysis by using software DYMOLA.

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