コンクリートの響きを考慮した劣駆動型打音装置の制御手法

抄録

According to rapid deterioration of many domestic bridges and tunnels, engineers that manage them are insufficient. For this reason, it is desired to develop an automatic hammering testing system that can inspect them quickly and accurately. Therefore, we developed an underactuated hammering system that aims to approximate the hammering sound by humans. However, hammering force of this system is affected by gravity. Therefore the hammering sound changes depending on the hammering direction. In this paper, we clarified the relationship between motor rotational speed and hammering direction to control the hammering force constantly. The experimental results showed that the hammering energy in the vertical direction is almost same to one in the horizontal direction.