Modeling of pure percussive drilling for autonomous robotic bridge decks rehabilitation

Fei Liu, Mitja Trkov, Jingang Yi, Nenad Gucunski

Research output: Chapter in Book/Report/Conference proceedingConference contribution

6 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publication2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
Pages1063-1068
Number of pages6
DOIs
StatePublished - 2013
Externally publishedYes
Event2013 IEEE International Conference on Automation Science and Engineering, CASE 2013 - Madison, WI, United States
Duration: Aug 17 2013Aug 20 2013

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2013 IEEE International Conference on Automation Science and Engineering, CASE 2013
Country/TerritoryUnited States
CityMadison, WI
Period8/17/138/20/13

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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