Magnetic Wheeled Climbing Robot: Design and Implementation
This paper presents a climbing robot, with wheeled locomotion and adhesion through permanent magnets. This machine was developed to be used in the inspection of several types of man-made ferromagnetic structures, such as towers for wind turbines, fuel storage tanks, ship hulls, etc., in order to, for instance, detect weaknesses due to corrosion. In this article are presented the main aspects taken into consideration for its design, as well as several constructive aspects, among which are detailed its mechanical and electrical construction, the implemented control architecture and the Human-Machine Interface (HMI) for its control. The distinguishing characteristic of this robot is its dynamic adjustment system of the permanent magnets to assure the machine adhesion to the surfaces when crossing slightly irregular and curved surfaces with a large radius.
KeywordsPermanent Magnet Wind Turbine Adhesion System Programmable Logic Controller Locomotion System
The authors would like to acknowledge FCT, FEDER, POCTI, POSI, POCI, POSC, and COMPETE for their support to R&D Projects and GECAD.
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