Development of a robotic bridge maintenance system

This paper will expand on the Robotic Bridge Maintenance System (RBMS) deve loped by the Construction Automation and Robotics Laboratory (CARL) at Nort h Carolina State University (NCSU). The system consists of a 4-dof robot, d esigned and built at NCSU, mounted on the end of a truck-mounted peeper cra ne. Additionally, a containment system is mounted in front of the robot to contain the toxic waste created by the removal of the lead-based paint from the bridge beams and trusses. (C) 2000 Published by Elsevier Science B.V. All rights reserved.