Development of four-wheel drive skid-steered mobile robot for automated hammering inspection

Name: Lee, Geunho

Organization : University of Miyazaki

Email : geunho@cc.miyazaki-u.ac.jp

Name: Hirae, Kaito

Organization : University of Miyazaki

Name: Li, Chunhe

Organization : University of Miyazaki

Email : lichunhe@cc.miyazaki-u.ac.jp

keyword: Hammering inspection

LCSH: Mobile robots

; Kinematic and dynamic model

; PD controller

Abstract: This paper introduces the development of a four-wheel drive skid-steered mobile robot for realizing automatic hammering-inspection tasks in concrete infrastructure facilities. The developed mobile robot aims for supporting the following series of hammering-inspection process: moving to a desired hammering location, hammering after stop, collecting the hammering sounds, and moving the next location. In particular, to realize the hammering inspections by the mobile robot, it is necessary to achieve the two conditions of both the direct contact of a hammering-inspection unit with a desired hitting surface and the exactly recording of the hammering sounds. It means the importance of position control for the mobile robot equipped with the hammering unit to meet two conditions outdoors. For the purpose, the four-wheel drive skid-steered mechanism is adopted instead of complex steering mechanisms. Moreover, a PD controller based on the mathematical model of the mobile robot is employed to control accurate locations. The mathematical model and implementation of the mobile robot are explained in detail, and the effectiveness and the usability of the robot are verified through extensive simulations and experiments

King Mongkut's University of Technology North Bangkok. Central Library

Address: BANGKOK

Email: library@kmutnb.ac.th

Created: 2024

Modified: 2024-12-17

Issued: 2024-12-17

บทความ/Article

application/pdf

BibliograpyCitation : In Thai Society of Mechanical Engineers (TSME) and Chiang Mai University. The 13th TSME International Conference on Mechanical Engineering (TSME-ICoME 2023) (pp.473-479). Chiang Mai : Chiang Mai University, 2023

eng

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