Modeling and Experiments of Rotary Percussive Drilling for Robotic Civil Infrastructure Rehabilitation

摘要

Rotary percussive drilling plays an important role in repairing defects and delami-nation in civil infrastructures such as bridge decks, tunnels, etc. Modeling of rotary percussive drilling is critical for optimization and control of the drilling performance. We present a modeling framework for rotary percussive drilling for robotic rehabilitation for bridge decks. The model uses an modified dry friction and other nonlinear elements to represent the pure percussive drilling characteristics. The contribution of the bit rotation to penetration is captured through the impact-induced crack-zone removals. An in-situ force measurement system is built to experimentally validate and demonstrate the model predictions. The experimental results confirm the modeling development and analyses.