A PROTOTYPE CLIMBING ROBOT FOR INSPECTION OF COMPLEX FERROUS STRUCTURES

摘要

© 2010 by World Scientific Publishing Co. Pte. Ltd. Currently many hazardous maintenance and inspection tasks, such as paint inspection and corrosion condition monitoring of steel structures, are being performed manually by workers, which causes serious health and safety problems. This paper presents a concept climbing robot, with the aim of exploring highly complex ferrous structures such as steel bridges, for the purpose of inspection duties. To demonstrate this concept, a quadruped prototype is developed. A modular architecture that simplifies the development process and improves reusability has been implemented. Permanent magnet compliant pads on each foot provide a simple method of adhesion on the highly complex and unsmooth surface of a bridge. A simple detachment mechanism has been employed. Experiments have been conducted to prove the concept and test the design of the prototype.