Abstract

Shape Control of Guide Frame to Avoid Obstacles for Tunnel Inspection System by Manual Operation Fumihiro Inoue, Momoe Terata Pages 97-104 (2024 Proceedings of the 41st ISARC, Lille, France, ISBN 978-0-6458322-1-1, ISSN 2413-5844) Abstract: Guide frames developed for tunnel wall inspection are designed to pass through obstacles in tunnels because the frame shape can be changed. However, in emergencies or when it is better to change the frame shape on the spot depending on the shape and arrangement of obstacles, a simple method to control the shape of the frame was required. Therefore, a shape change method using a force control technique was devised to easily change the shape of the guide frame by manual operation. The guide frame is an arch structure with a linearly connected Variable Geometry Truss (VGT) consisting of an extended actuator and a hinge. A feedback control method was devised in which the frame shape changes in response to the force acting on the puller, including the force sensor installed on the underside of the guide frame. By changing the position of the puller and the range of action of the actuator, the axial force acting on the guide frame and the shape change were confirmed through experiments and analysis. This control method is a simple way to manually deform the guide frame and can be applied to a variety of shapes. Keywords: Tunnel Inspection System, VGT Guide Frame, Shape control, Manual operation, Force Control DOI: https://doi.org/10.22260/ISARC2024/0014 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley