Climbing Robot for Steel Bridge Inspection: Design Challenges

Ward, PK; Manamperi, P; Brooks, P; Mann, P; Kaluarachchi, W; Matkovic, L; Paul, G; Yang, C; Quin, P; Pagano, D; Liu, D; Waldron, K; Dissanayake, G

Climbing Robot for Steel Bridge Inspection: Design Challenges

Ward, PK Manamperi, P Brooks, P Mann, P Kaluarachchi, W Matkovic, L Paul, G

Yang, C Quin, P

Pagano, D Liu, D

Waldron, K

Dissanayake, G

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Publisher:: ARRB Group
Publication Type:: Conference Proceeding
Citation:: Proceedings for the Austroads Publications Online, 2014, pp. 1 - 13 (13)
Issue Date:: 2014-11-12

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Field	Value	Language
dc.contributor.author	Ward, PK	en_US
dc.contributor.author	Manamperi, P	en_US
dc.contributor.author	Brooks, P	en_US
dc.contributor.author	Mann, P	en_US
dc.contributor.author	Kaluarachchi, W	en_US
dc.contributor.author	Matkovic, L	en_US
dc.contributor.author	Paul, G https://orcid.org/0000-0002-3478-0020	en_US
dc.contributor.author	Yang, C	en_US
dc.contributor.author	Quin, P https://orcid.org/0000-0001-6542-3459	en_US
dc.contributor.author	Pagano, D	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Waldron, K https://orcid.org/0000-0002-7910-4907	en_US
dc.contributor.author	Dissanayake, G https://orcid.org/0000-0002-7992-0680	en_US
dc.date	2014-10-22	en_US
dc.date.issued	2014-11-12	en_US
dc.identifier.citation	Proceedings for the Austroads Publications Online, 2014, pp. 1 - 13 (13)	en_US
dc.identifier.uri	http://hdl.handle.net/10453/35415
dc.description.abstract	Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges.	en_US
dc.publisher	ARRB Group	en_US
dc.relation.ispartof	Proceedings for the Austroads Publications Online	en_US
dc.relation.ispartof	Austroads Bridge Conference	en_US
dc.title	Climbing Robot for Steel Bridge Inspection: Design Challenges	en_US
dc.type	Conference Proceeding
utslib.location	New South Wales, Australia	en_US
utslib.location.activity	New South Wales	en_US
utslib.for	091303 Autonomous Vehicles	en_US
dc.location.activity	New South Wales
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
pubs.organisational-group	/University of Technology Sydney/Students
utslib.copyright.status	open_access
pubs.consider-herdc	true	en_US
pubs.finish-date	2014-10-24	en_US
pubs.place-of-publication	New South Wales, Australia	en_US
pubs.publication-status	Published	en_US
pubs.start-date	2014-10-22	en_US

Abstract:

Inspection of bridges often requires high risk operations such as working at heights, in confined spaces, in hazardous environments; or sites inaccessible by humans. There is significant motivation for robotic solutions which can carry out these inspection tasks. When inspection robots are deployed in real world inspection scenarios, it is inevitable that unforeseen challenges will be encountered. Since 2011, the New South Wales Roads & Maritime Services and the Centre of Excellence for Autonomous Systems at the University of Technology, Sydney, have been working together to develop an innovative climbing robot to inspect high risk locations on the Sydney Harbour Bridge. Many engineering challenges have been faced throughout the development of several prototype climbing robots, and through field trials in the archways of the Sydney Harbour Bridge. This paper will highlight some of the key challenges faced in designing a climbing robot for inspection, and then present an inchworm inspired robot which addresses many of these challenges.

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http://hdl.handle.net/10453/35415