Development of multifunctional robotic crawler for cable inspection (MRC<sup>2</sup>IN)

摘要

For the exact and safe inspection of bridge cables, the climbing robotic system which is able to transport an inspection device has been developed. Main mechanisms were verified with Prototype, and the whole robotic system was developed based on the verified main mechanisms. To overcome winding surface of a cable, the developed caterpillar in place of the normal rubber wheel was equipped with the robot. The performance of the robot was validated with indoor and outdoor experimental environments.