INFRASTRUCTURE RESEARCH PROGRAM

AUTOMATION OF INFRASTRUCTURE MAINTANANCE

System Configuration

Linear motion actuators are combined to form a robot with three degrees of freedom in order to perform pre- programmed motion sequences for the purpose of infrastructure maintenance. This automated system contains a self adjusting loading plate at the end of one actuator which has to maintain close contact between the maintenance tools and the substrate. This plate contains a vacuum blaster nozzle and a thermal spray gun head, thus giving the user a simple unit that combines essential maintenance tools. The mounting plate is designed in such a way so as to allow for a quick disconnect from the actuators, thus allowing system maintenance in the field. The spring loaded plate insures that the rehabilitation tools are kept in close contact with the substrate. The actuators are mounted to an aluminum frame that is able to carry the system to the work area. Four electromagnets are attached to the end of each frame leg, which gives the ATSS the ability to be suspended from the chosen work surface. A video monitoring system is attached to one of the axis to allow the operator a view of the rehabilitation process.

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last updated 03/15/96 by Dr. J. Karthikeyan