Inspection of floating platform mooring chains with a climbing robot

This paper describes the development of Moorinspect, a novel robot that can climb on platform mooring chains both underwater and in air to non-destructively test (NDT) each link with long range ultrasound guided waves. The prototype robot is designed to be able to climb up/down a mooring chain for up to twenty metres below the surface, climb up through the splash zone to the first link which is located in air and connected to the turret of a Floating Production Storage and Offloading (FPSO) facility. This first link suffers the most intense stresses and fatigue failure and thus it is important to test its integrity. A robot that can climb through the splash zone (considered to be the most dangerous zone for human divers) will be the first of its kind. The robot is able to cope with link dimension variations due to corrosion and biological fouling and link curvatures caused by bent links, chain curvature due to gravity, and links twisted at angles of up to eight degrees around a nominal angle of ninety degrees. The robot places an NDT collar consisting of ultrasound probes around the full circumference of each link to be tested. The design has been analysed extensively using Von Mises stress analysis to ensure that the robot is strong and robust enough to carry a sensor payload of more than 70 kg and a robot weighing 500 kg in air and is able to operate in the splash zone. A first prototype chain climbing robot has been tested via trials on a four link mooring chain suspended in air and while immersed in a diving tank.