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Full-Text Articles in Structural Engineering
Mobile-Manipulating Uavs For Sensor Installation, Bridge Inspection And Maintenance, Paul Oh, Blake Hament, Dongbin Kim
Mobile-Manipulating Uavs For Sensor Installation, Bridge Inspection And Maintenance, Paul Oh, Blake Hament, Dongbin Kim
Project AS-1
A parallel mechanism and smart gripper was designed and mounted on a rotorcraft drone to act as a robotic arm and hand. This empowers the drone to perform aerial manipulation and execute bridge maintenance. Hosing, drilling, and epoxying serve as case studies to test-and-evaluation and verify-and-validate the design. The approach, tasks, and findings are presented and show that the case studies are realizable. Conclusions and recommendations point to employing haptics-based human-in-the-loop approaches that can increase the scope of repair work involved in bridge maintenance.