TY - GEN
T1 - Modeling of pure percussive drilling for autonomous robotic bridge decks rehabilitation
AU - Liu, Fei
AU - Trkov, Mitja
AU - Yi, Jingang
AU - Gucunski, Nenad
PY - 2013
Y1 - 2013
N2 - This paper presents a dynamic model of pure percussive drilling for autonomous robotic rehabilitation for concrete bridge decks. We first describe the autonomous mobile manipulator-based concrete drilling system for bridge deck rehabilitation. A dry friction-based pure percussive drilling model is then presented to describe the drilling process characteristics and to capture the influence of drilling conditions and parameters on the penetration rate. One attractive property of the proposed model is the physical interpretation of the crushing/chipping effects in percussive drilling process. The model and its properties are validated and demonstrated through extensive drilling experiments.
AB - This paper presents a dynamic model of pure percussive drilling for autonomous robotic rehabilitation for concrete bridge decks. We first describe the autonomous mobile manipulator-based concrete drilling system for bridge deck rehabilitation. A dry friction-based pure percussive drilling model is then presented to describe the drilling process characteristics and to capture the influence of drilling conditions and parameters on the penetration rate. One attractive property of the proposed model is the physical interpretation of the crushing/chipping effects in percussive drilling process. The model and its properties are validated and demonstrated through extensive drilling experiments.
UR - http://www.scopus.com/inward/record.url?scp=84891511840&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84891511840&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2013.6654053
DO - 10.1109/CoASE.2013.6654053
M3 - Conference contribution
AN - SCOPUS:84891511840
SN - 9781479915156
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1063
EP - 1068
BT - 2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
T2 - 2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
Y2 - 17 August 2013 through 20 August 2013
ER -