Abstract
Designing climbing robots for industrial applications, has been proven to be an egg and chicken problem.
The more the payload the more adhesion force needed. In order to move a robot upwards with such a force,
motors with bigger torque are required and thus, increasing the payload. Similarly, increasing the adhesion
force is likely to increase the payload. This paper presents an improved climbing robot specifically designed
to climb on structures with 30~35mm of reinforced concrete (R/C) cover, while deploying a precision noncontact
GPR sensor for the detection of rebar corrosion and related defects. Furthermore, it carries a system
for visual inspection and detection of concrete cover deterioration. It works autonomously under UWB
controlled trajectories, adjustable by GPR sensor feedback for avoidance of rebar-poor regions. The
inspection NDT data is transmitted wirelessly to a ground-based CPU for processing and monitoring.
| Original language | English |
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| DOIs | |
| Publication status | Published - 25 Aug 2020 |
| Event | 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines - Duration: 24 Aug 2020 → 26 Aug 2020 |
Conference
| Conference | 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines |
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| Abbreviated title | CLAWAR 2020 |
| Period | 24/08/20 → 26/08/20 |
| Other | The organising committee decided that given the restrictions on travel due to the COVID-19 pandemic the CLAWAR 2020 conference will be held virtually. CLAWAR 2020 is the 23rd issue of the International Conference Series on Climbing and Walking Robots and the Support Technologies for Mobile Machines. The conference will be organized in collaboration with the Ishlinsky Institute for Problems in Mechanics of the Russian Academy of Sciences (IPMech-RAS), in Moscow, Russian Federation during 24 – 26 August 2020. The technical programme of CLAWAR 2020 will feature plenary, regular and special/invited sessions and robot exhibition Original contributions are invited in the general area of mobile robotics, covering climbing, walking, flying robots with assistance and services provided to humans and machines. The conference will cover analysis (modelling and simulation) techniques, design approaches, and practical applications and realisations of robotic systems. Support technologies for the realisation of such systems, associated economic, ethical and social considerations are an integral part of the conference theme. |
Keywords
- Climbing robot
- Wind tower
- Adhesion mechanism