Magnetic Wheeled Climbing Robot: Design and Implementation

  • M. F. Silva
  • R. S. Barbosa
  • A. L. C. Oliveira
Conference paper
Part of the Intelligent Systems, Control and Automation: Science and Engineering book series (ISCA, volume 61)


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.


Permanent Magnet Wind Turbine Adhesion System Programmable Logic Controller Locomotion System 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.



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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Copyright information

© Springer Science+Business Media Dordrecht 2013

Authors and Affiliations

  • M. F. Silva
    • 1
  • R. S. Barbosa
    • 1
  • A. L. C. Oliveira
    • 1
  1. 1.Departamento de Engenharia Electrotécnica, GECAD – Grupo de Engenharia do Conhecimento e Apoio à DecisãoISEP – Instituto Superior de Engenharia do PortoPortoPortugal

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