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김덕후,김효곤,조국,강민성,박상덕,손웅희 한국공작기계학회 2008 한국공작기계학회 추계학술대회논문집 Vol.2008 No.-
The purpose of maintaining of bridges was to secure of them and expend its life. They wereneeded to have a regular safety check. But, most parts of a bridge were not able to access easily for people so it was difficult to maintain. To improve it, the flight mechanism and mobile mechanism were combined to examine with moving when they were attaching to bridges up and down. The flight mechanism is a co-axial-rotor-helicopter shape that cut the body down and can be done hovering. The mobile mechanism was shaped to move every direction with holding the position of a robot. These robot platforms showed possibilities to use them not only for observation and patrol but they could be used for a new usage with transformation of flying robots. This paper was focused on location maintaining when a robot was examined a bridge. The flight mechanism would only have thrust and adhesive force, the mobile mechanism would be used for moving. Therefore, defining the mechanistic model of the mobile mechanism has proved the validity of the model through simulations and experiments.