The development of robotics has brought robots into various industries, including civil engineering. ASAP is an example of a robot used in civil engineering, it's a climbing robot developed at CRTA, used for assesment and prediction of infrastructure integrity in the construction industry. During previous use of the robot, it was observed that the surface on which the robot moves may contain irregularities, thus a proposal for compensating for these irregularities is suggested. The aim of this work is to develop an active suspension system for the robot-climber to compensate for irregularities on the surface it moves on. Market and patent research was conducted as part of the development process, several potential solutions were conceptualized, and the selected solution was developed. Finally, a plan for the first phase of testing is presented. The developed solution utilizes an actuation motor whose rotational force is transmitted to a screw shaft. By rotating the screw shaft, the nut moves linearly, and since it is fixedly connected to the wheel carrier, it consequently moves as well.
Petra Vukas
2024
Master thesis
