TY - JOUR
T1 - Development of Automatic Ladder Climbing Inspection Robot Using Extension Type Flexible Pneumatic Actuators
AU - Shimooka, S.
AU - Katayama, K.
AU - Akagi, T.
AU - Dohta, S.
AU - Shinohara, T.
AU - Kobayashi, T.
AU - Aliff, M.
N1 - Funding Information:
This work was supported by JSPS KAKENHI Grant Numbers 16K06202 and 19K04265.
Publisher Copyright:
© The Authors 2022. Published by Penerbit UMP. This is an open access article under the CC BY license
PY - 2022
Y1 - 2022
N2 - Recently, old and dilapidated infrastructures such as bridges, chimneys and tunnels have become very serious in Japan. Inspection of the infrastructure was done by climbing the ladders that were set up. However, the inspection becomes dangerous as it is necessary to climb into very high areas and unpredictable weather and conditions. In this study, a lightweight inspection robot that can climb ladders in adverse weather conditions was proposed and tested. To grasp a ladder pillar without hurting, the wrapping motion is required. Therefore, the flexible robot arm that can grasp the ladder pillar while approaching and release it while going away was also proposed and tested. The automatic ladder-climbing inspection robot that consists of two pillar grasping flexible robot arms and a lifting robot arm was proposed and tested. The control system of the robot, driven by four on/off valves and an embedded controller, was also constructed. The ladder climbing experiment using the tested robot was carried out.
AB - Recently, old and dilapidated infrastructures such as bridges, chimneys and tunnels have become very serious in Japan. Inspection of the infrastructure was done by climbing the ladders that were set up. However, the inspection becomes dangerous as it is necessary to climb into very high areas and unpredictable weather and conditions. In this study, a lightweight inspection robot that can climb ladders in adverse weather conditions was proposed and tested. To grasp a ladder pillar without hurting, the wrapping motion is required. Therefore, the flexible robot arm that can grasp the ladder pillar while approaching and release it while going away was also proposed and tested. The automatic ladder-climbing inspection robot that consists of two pillar grasping flexible robot arms and a lifting robot arm was proposed and tested. The control system of the robot, driven by four on/off valves and an embedded controller, was also constructed. The ladder climbing experiment using the tested robot was carried out.
KW - Automatic ladder climbing robot
KW - Embedded controller
KW - Extension type flexible
KW - Grasping flexible robot arm
KW - Pneumatic actuator
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U2 - 10.15282/IJAME.19.1.2022.21.0740
DO - 10.15282/IJAME.19.1.2022.21.0740
M3 - Article
AN - SCOPUS:85130588940
VL - 19
SP - 9593
EP - 9605
JO - International Journal of Automotive and Mechanical Engineering
JF - International Journal of Automotive and Mechanical Engineering
SN - 2229-8649
IS - 1
ER -