Work

Throwing Angle Estimation of a Wire Installation Device with Robotic Arm Using a 3D Model of a Spear

Year: 2025

Type: article

Abstract: In recent years, the deterioration of social infrastructure such as bridges has become a serious issue in many countries around the world. To maintain the functionality of aging bridges over the long term, it is necessary to conduct regular inspections, detect damage at an early stage, and perform timely repairs. However, inspections require significant cost and time, and ensuring the safety of inspectors remains a major challenge. As a result, inspection using robots has attracted increasing attention. This study focuses on a wire-driven bridge inspection robot designed to inspect the underside of bridge girders. To use this robot, wires must be installed in the space beneath the girders. However, it is difficult to install wires over areas such as rivers. To address this problem, we developed a robotic arm capable of throwing a spear attached to a string. In order to throw the spear accurately to the target location, a three-dimensional dynamic model of the spear in flight was constructed, considering the tension of the string. Using this model, we accurately estimated the required throwing conditions and confirmed that the robotic arm could successfully throw the spear to the target location.

Source: Inventions

DOI: 10.3390/inventions10050073

Authors: Yuji Kobayashi, Nobuyoshi Takamitsu, Rikuto Suga, Kotaro Miyake, Yogo Takada

Institution: Osaka Metropolitan University

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

SDG: Industry, innovation and infrastructure

Open Access status: gold

Estimated APC paid: $2,172