構造物検査用飛行ロボットのための吸着機構の研究

抄録

This paper presents a development of an aerial robot for the use of close inspection of vertical walls and columns made of steel. The proposed robot has magnetic clinging devices in front and rear ends of the airframe, each which consists of an EPM (electro-permanent magnet) with a rotation joint. Using these devices, the robot approaching to the target structure can cling to the structure, and conduct inspection missions such as image inspection and vibration monitoring. In this study, the performance of the clinging device is experimentally examined on test pieces with different curvatures, considering various situations of approach with different offsets and angles, and the allowable limits of the collision speed are discussed.