UAV with Manipulator for Bridge Inspection - Hammering system for mounting to UAV

We developed a hammering inspection system with compliance mechanism for inspection of infrastructure construction with copter. We develop a multi-copter with arm module to access from front to up structure. The hammering system is attached to the tip of the arm module. The hammering module has solenoid for hammering, mike for record the hammering sound, compliance system to access vertically to the inspection structure. To attach multi-copter and control the arm, the weight of the hammering system must be light, so we use SMA wire for the compliance system. We made the base of the system by ABS using 3D printer. In this paper, we describe the design, overview and evaluation of the hammering system.