VIBRATION ACTUATOR SYSTEM FOR INTERNAL INSPECTION OF LARGE COMPLEX IRON STRUCTURES

Abstract

In recent years, many large structures have been constructed all over the world due to economic development. Especially in Japan, more than 50 years have passed since the intensive construction of large structures during the period of high growth known as the Japanese economic miracle. As these structures age, they need to be inspected, and numerous robots have been proposed for structural inspection. However, the technology for inspection of large structures by robots remains immature. This paper proposes a vibration actuator system that can move a robot over an iron structure having a complicated surface, such as a stepped surface. A prototype vibration actuator system was built, in which four vibration actuators and wheels containing magnets were combined with flexible silicone rubber “backbone.” Actual climbing tests showed that this actuator system can move smoothly over vertical steps. Further, this system can be equipped with an automatic tapping device, which might allow it to inspect the main towers of a large bridge.