UAVに搭載可能なコンプライアンス機構を有した打音点検装置の研究

抄録

We developed a hammering inspection system with solenoid and compliance mechanism for inspection of infrastructure construction with unmanned aerial vehicle. We develop a UAV with robotic manipulator arm to access wall of infrastructure surface. The hammering system is attached to the tip of the manipulator arm. The hammering module has solenoid for hammering, mike for record the hammering sound of the concrete surface, compliance system to access vertically to the inspection structure. To attach multi-copter and control the arm, the weight of the hammering system must be light, and we use SMA wire for the compliance to the inspection surface. In this paper, we describe the overview, design and evaluation of the hammering system.