The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of a Climbing Robot for Inspection of Bridge Cable

교량 케이블 점검용 이동 로봇 개발

  • 김호문 (성균관대학교 기계공학과) ;
  • 조경호 (성균관대학교 메카트로닉스협동과정) ;
  • 진영훈 (성균관대학교 기계공학과) ;
  • ;
  • 최혁렬 (성균관대학교 기계공학부)
  • Received : 2012.02.14
  • Accepted : 2012.04.25
  • Published : 2012.05.31
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Abstract

In this paper, we propose a cable climbing robot which can climb up and down the cables in the bridges. The robot mechanism consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The wheel based driving mechanism is driven by tooth clutches and motors. The adhesion mechanism plays the role of maintaining adhesion force by a combination of pantograph, ball screw, and springs even when the power is lost. The safe landing mechanism is developed for guaranteeing the safety of the robot during operations on cables. It can make the robot fall down with reduced speed by dissipating the gravitational forces. The robot mechanism is designed and manufactured for validating its effectiveness.

Keywords

References

  1. Fengyu Xu, Xingsong Wang, "A Wheel-Based Cable Climbing Robot With Descending Speed Restriction", Control and Descision conference (CCDC), pp.1570-1575, 2008.
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  3. Mahmoud Tavakoli, Ali Marjovi, Lino Marques, Anibal T. de Almeida, "3DCLIMBER: A climbing robot for inspection of 3D human made structures" Intelligent Robot sand Systems, (IROS), pp.4130-4135, 2008.
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  8. Ho Moon Kim, Kyeong Ho Cho, Fengyi Liu and HyoukRyeol Choi, "DEVELOPMENT OF CABLE CLIMBING ROBOTIC SYSTEM FOR INSPECTION OF SUSPENSION BRIDGE", International Symposium on Automation and Robotics in Construction, pp.1422-1423, 2011.

Cited by

  1. Development of Inspection Robots for Bridge Cables vol.2013, pp.1537-744X, 2013, https://doi.org/10.1155/2013/967508
  2. A Wireless-Communicated Spirally Column-Climbing Robot with a Manipulator vol.10, pp.4, 2015, https://doi.org/10.7746/jkros.2015.10.4.213