Novel adhesion mechanism and design parameters for concrete wall-climbing robot

摘要

Over the lifetime of a concrete structure, different types of defect could occur. Non-destructive testing (NDT) systems assist in detection of those faults. However, current systems do not provide easier accessibility of Non-Destructive Equipment (NDE) to tall inspection area. This paper presents a proposed research of implementing magnetic adhesion mechanism for wall-climbing robot for reinforced concrete surface. The mechanical design parameters are investigated and detailed in the paper. In order to increase the adhesion force, the module's magnetic adhesion efficiency is exploited by optimizing design parameters such as the distance between magnets, the yoke thickness, and magnet arrangements. A prototype robot validates simulation results of design criteria obtained by Finite Element Analysis (FEA) method and proves that the magnetic adhesion mechanism can generate efficient adhesion force for the climbing robot to operate on vertical reinforced concrete structures.