K.KASAI, S.TUJINO, Y.NISHIYAMA, S.ISHIBASHI
In recent years, saving of expenses and elimination of the "3D" tasks (dangerous, difficult, and dirty tasks) are major issues in the maintenance of railway bridges. A prototype mechanism for movable on railway bridges (particularly along the bottom side) has been developed for possible applications to the painting and inspection of structures such as railway bridges. A mechanism for movable on box girder of railway bridges was examined. This mechanism usually moves on wheels, and uses a coordination of clamp arms and wheel arms when moving around obstacles. The hardware, the control law of movement, the operation of the mechanism, the software, and the results of movement tests are described.