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A platform for research: civil engineering, architecture and urbanism
High-mobility inchworm climbing robot for steel bridge inspection
Abstract The High Mobility Inchworm Climbing Robot (HMICRobot), capable of traversing diaphragms between sections and performing internal inspections of steel box girder bridges, was developed through our mechanical design combined with finite element simulations and adhesion force experiments. Compared to existing robots in the literature, the developed HMICRobot exhibits superior climbing and obstacle-crossing capabilities, benefiting from its hybrid power design, unique footpad electromagnetic control, and central core module with large-size wheels that provide stable and efficient mobility on both steel surfaces and the ground. The robot's exceptional locomotion capabilities, including vertical and horizontal climbing, 360-degree flipping, and obstacle crossing, make it a promising solution for complex inspection and maintenance tasks in steel box girders. In the field of inspection robots, the HMICRobot represents a significant advancement, especially for performing internal inspections of steel box girder bridges.
Highlights Due to its advanced climbing and obstacle-crossing abilities, the HMICRobot can conduct complex inspections and maintenance tasks in steel box girders. The HMICRobot's hybrid power design allows efficient mobility on steel surfaces and on the ground. The HMICRobot uses electromagnetic control for stable and efficient climbing and obstacle-crossing abilities. The HMICRobot's locomotion ability, including its 360-degree flip obstacle traversal, demonstrates exceptional performance compared to other robots. The detailed design specifications can provide a valuable reference for developing similar robots, accelerating progress in robotics engineering.
High-mobility inchworm climbing robot for steel bridge inspection
Abstract The High Mobility Inchworm Climbing Robot (HMICRobot), capable of traversing diaphragms between sections and performing internal inspections of steel box girder bridges, was developed through our mechanical design combined with finite element simulations and adhesion force experiments. Compared to existing robots in the literature, the developed HMICRobot exhibits superior climbing and obstacle-crossing capabilities, benefiting from its hybrid power design, unique footpad electromagnetic control, and central core module with large-size wheels that provide stable and efficient mobility on both steel surfaces and the ground. The robot's exceptional locomotion capabilities, including vertical and horizontal climbing, 360-degree flipping, and obstacle crossing, make it a promising solution for complex inspection and maintenance tasks in steel box girders. In the field of inspection robots, the HMICRobot represents a significant advancement, especially for performing internal inspections of steel box girder bridges.
Highlights Due to its advanced climbing and obstacle-crossing abilities, the HMICRobot can conduct complex inspections and maintenance tasks in steel box girders. The HMICRobot's hybrid power design allows efficient mobility on steel surfaces and on the ground. The HMICRobot uses electromagnetic control for stable and efficient climbing and obstacle-crossing abilities. The HMICRobot's locomotion ability, including its 360-degree flip obstacle traversal, demonstrates exceptional performance compared to other robots. The detailed design specifications can provide a valuable reference for developing similar robots, accelerating progress in robotics engineering.
High-mobility inchworm climbing robot for steel bridge inspection
Lin, Tzu-Hsuan (author) / Putranto, Alan (author) / Chen, Pin-Hang (author) / Teng, Yun-Zhen (author) / Chen, Li (author)
2023-04-23
Article (Journal)
Electronic Resource
English
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