Development of cable climbing robot for maintenance of suspension bridges

Author

Kim, Ho Moon ; Cho, Kyeong Ho ; Jin, Young Hoon ; Liu, Fengyi ; Koo, Ja Choon ; Choi, Hyouk Ryeol

fYear

2012

fDate

20-24 Aug. 2012

Firstpage

606

Lastpage

611

Abstract

In this paper, we introduce a wheel-based cable climbing robot system developed for maintenance of the suspension bridges. The robot consists of three parts: a wheel based driving mechanism, adhesion mechanism, and safe landing mechanism. The driving mechanism is a combination of pantograph mechanism, and wheels driven by motors. In addition, we propose a special design of safe landing mechanism which can assure the safety of the robot on the cables when the power is lost. Finally, the proposed robotic system is manufactured and validated in the indoor experimental environments.

Keywords

adhesion; bridges (structures); cables (mechanical); indoor environment; industrial robots; maintenance engineering; mobile robots; motor drives; occupational safety; wheels; adhesion mechanism; indoor experimental environments; pantograph mechanism; robot safety assurance; robotic system; safe landing mechanism; suspension bridge maintenance; wheel-based cable climbing robot system; wheel-based driving mechanism; Adhesives; Climbing robots; Force; Springs; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

Automation Science and Engineering (CASE), 2012 IEEE International Conference on

Conference_Location

Seoul

ISSN

2161-8070

Print_ISBN

978-1-4673-0429-0

Type

conf

DOI

10.1109/CoASE.2012.6386375

Filename

6386375