ハルバッハ配列を用いた可変磁気吸引自重補償ユニットによる鋼鈑桁橋点検ロボットの走行制御

抄録

This paper describes about the mobile robot by adopting the variable magnetic attraction self-weight compensation with Halbach Array in order to inspect the steel plate girder bridge. A mobile robot mechanism that can control the magnetic attraction force was proposed by adopting the Halbach Array composed of plural permanent magnets. When an inspection robot moves under the bridge girder, the robot is required the mobility in order to traverse the splice plate and to adapt the change of the flange thickness and the width. The robot will be approaching to traverse the splice plate, the variable magnetic attraction self-weight compensation unit will be effectiveness. Proposed moving control method of the bridge inspection robot by changing the magnetic force of the unit was discussed.