Aerial manipulator with a compliant arm for bridge inspection
A. E. Jimenez-Cano,Guillermo Heredia,Anibal Ollero +2 more
- pp 1217-1222
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TLDR
In this paper, the manipulator joints are equipped with a compliant mechanism that allows the contact with the environment reducing the influence over the platform stability, where the arm is placed at the upper part of the multirotor body.Abstract:
This paper presents the design, development and testing of a 4-DoF aerial manipulator for bridge inspection, where the arm is placed at the upper part of the multirotor body. The manipulator joints are equipped with a compliant mechanism that allows the contact with the environment reducing the influence over the platform stability. The transmission mechanism consists of two pairs of springs and a potentiometer for measuring the angular deflection between the servo and the joint angular position, which allows the estimation of the contact forces. Experimental tests have been done with the aerial manipulator placing the end effector at different points in the lower part of a bridge girder, which is needed by bridge inspectors to measure girder's deflections over time.read more
Citations
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Survey on Aerial Manipulator: System, Modeling, and Control
TL;DR: A complete and systematic review of related research on this topic is conducted, and various types of structure designs of aerial manipulators are listed out.
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Multirotor UAS for bridge inspection by contact using the ceiling effect
TL;DR: In this paper, a new design of a multirotor UAV that can be used in some of these applications to eliminate the coupling and to be able to carry out the inspection by contact in a more effective way is presented.
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Assessment of the feasibility of detecting concrete cracks in images acquired by unmanned aerial vehicles
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Robotic System for Inspection by Contact of Bridge Beams Using UAVs
TL;DR: This paper presents a robotic system using UAVs for bridge-inspection tasks that require physical contact between the aerial platform and the bridge surfaces, such as beam-deflection analysis or measuring crack depth with an ultrasonic sensor.
References
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Proceedings ArticleDOI
Construction of Cubic Structures with Quadrotor Teams.
TL;DR: It is shown that any SCS can be built using only the feasible assembly modes for individual structural elements and present simulation and experimental results with a team of quadrotors performing automated assembly.
Journal ArticleDOI
Agile Load Transportation : Safe and Efficient Load Manipulation with Aerial Robots
TL;DR: In this paper, radio-controlled UAVs carrying radiation sensors and video cameras were used to monitor, diagnose, and evaluate the situation at Japans Fukushima Daiichi nuclear plant facility.
Proceedings ArticleDOI
Control of a multirotor outdoor aerial manipulator
Guillermo Heredia,A. E. Jimenez-Cano,I. Sánchez,Domingo Llorente,Victor M. Vega,J. Braga,José Ángel Acosta,Anibal Ollero +7 more
TL;DR: A stable backstepping-based controllers for the multirotor that uses the coupled full dynamic model is proposed, and an admittance controller for the manipulator arm is outlined.
Proceedings ArticleDOI
Modeling and control of a flying robot for contact inspection
Matteo Fumagalli,Roberto Naldi,Alessandro Macchelli,Raffaella Carloni,Stefano Stramigioli,Lorenzo Marconi +5 more
TL;DR: The goal of this paper is to show the dynamical characteristics of the flying robot during tasks that require physical interaction, and to determine a control strategy that allows to safely interact with unknown environments.