接触点検可能な橋梁点検用の1DoFアームを搭載したオクトコプタの開発

抄録

This paper describe development of a octocopter to execute hammering test, which is one of bridge inspection method. The octocopter is developed to inspect bridges substituting for human inspectors. In the bridge inspection, the inspectors are required to conduct hammering and visual tests to find defects. To conduct the hammering test, the octocopter needs to contact object surfaces and to keep contact force. The object surfaces are floor slabs and bridge piers, therefore the octocopter needs one DoF manipulator at least to contact them. The contact force against the floor slabs is proportional to throttle rate of the octocpter, and the force against the bridge piers is proportional to its pitch angle and weight. Therefore, one DoF is enough to control the contact force. A experiment shows that the octocopter can keep contact against the object surfaces.