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

Chaoke Guo, Jingang Yi

Research output: Contribution to journalArticle

2 Scopus citations


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.

Original languageEnglish (US)
Pages (from-to)9784-9789
Number of pages6
Issue number1
StatePublished - Jul 2017


All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering


  • Percussive drilling
  • civil infrastructure automation
  • impact dynamics
  • modeling

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