Design and prototype of a magnetic adhesion tracked-wheel robotic platform for mooring chain inspection

Abstract

The development of climbing robots for mooring chain applications is still in its infancy due to the operational complexity and the geometrical features of the chain. Mooring chains are subjected to high tidal waves, harsh environmental conditions and storms on a daily basis. Therefore, the integrity assessment of chain links is vital and regular inspection is mandatory for offshore structures. The magnetic adhesion tracked-wheel crawler robot presented in this study is suitable for mooring chain climbing in air and the technique can be adapted for underwater use. The robotic platform can climb mooring chains at a maximum speed of 42 cm/min with an external load of 50 N. A numerical study was conducted to investigate the adhesion module and analysis of the robot structural design. Numerical results were validated using a prototyped robot in laboratory conditions. The proposed robot can be used as a platform to convey equipment for non-destructive testing applications.