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

Chaoke Guo, Jingang Yi

Research output: Contribution to journalArticle

2 Citations (Scopus)

Abstract

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
JournalIFAC-PapersOnLine
Volume50
Issue number1
DOIs
StatePublished - Jul 1 2017

Fingerprint

Patient rehabilitation
Drilling
Robotics
Bridge decks
Experiments
Force measurement
Tunnels
Friction
Cracks
Defects

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering

Keywords

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

Cite this

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Modeling and Experiments of Rotary Percussive Drilling for Robotic Civil Infrastructure Rehabilitation. / Guo, Chaoke; Yi, Jingang.

In: IFAC-PapersOnLine, Vol. 50, No. 1, 01.07.2017, p. 9784-9789.

Research output: Contribution to journalArticle

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