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JRM Vol.31 No.6 pp. 855-862
doi: 10.20965/jrm.2019.p0855
(2019)

Development Report:

Development of Hanger-Rope Inspection Robot for Suspension Bridges

Hidekazu Kajiwara, Naohiko Hanajima, Kentarou Kurashige, and Yoshinori Fujihira

Muroran Institute of Technology
27-1 Mizumoto-cho, Muroran, Hokkaido 050-8585, Japan

Received:
May 24, 2019
Accepted:
October 11, 2019
Published:
December 20, 2019
Keywords:
infrastructure inspection, suspension bridge, hanger rope, inspection robot
Abstract
Development of Hanger-Rope Inspection Robot for Suspension Bridges

Hanger-rope inspection using prototype 2 robot

This paper describes the development of a hanger-rope inspection robot for suspension bridges. The inspection robot inspects the hanger rope by going up and down the rope installed vertically downward from the main cable of a suspension bridge. The going-up-and-down mechanism of the robot consists of a drive roller driven by a motor and a non-excitation electromagnetic brake, and the robot can safely descend after climbing the rope at high speed. The developed robot is small in size and light in weight, and an inspection worker can easily install the robot on the rope. In addition, the robot can be wirelessly controlled with ease from the controller. First, this paper describes the hanger-rope inspection strategy of the suspension bridge. Then, the developed prototype 2 robot is introduced. Next, the result of the hanger-rope inspection in an actual suspension bridge and the problems are clearly revealed by experiment. Finally, the newly developed prototype 3 robot is introduced, and the result of the going-up-and-down experiment is described.

Cite this article as:
H. Kajiwara, N. Hanajima, K. Kurashige, and Y. Fujihira, “Development of Hanger-Rope Inspection Robot for Suspension Bridges,” J. Robot. Mechatron., Vol.31, No.6, pp. 855-862, 2019.
Data files:
References
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Last updated on Feb. 20, 2020