Magnetic Part Design of Pipe-Surface Inspection Robot

Cable inspection robot for cable‐stayed bridges: Design, analysis, and application

“…Some other research on climbing robots for pole‐like structures has been developed and applied in the industry. These include a four‐degree‐of‐freedom (DOF) climbing structure named PCR (Tavakoli, Marques, & Almeida, 2010), the Explorer™ family of pipe robots (Schempf, Mutschler, Gavaert, Skoptsov, & Crowley, 2010), a cylindrical or cone‐shaped robot (named Pobot V2) capable of climbing poles (Fauroux & Morillon, 2010), a climbing ring robot for the inspection of offshore wind turbines (Sattar & Rodriguez, 2009), a low‐cost modular pole climbing robot (Zaidi, Tan, Abdullah, & Zahurin, 2000), the 3DCLIMBER for three‐dimensional (3D) tubular structures (Tavakoli, Marjovi, & Marques, 2008), the ROMA for metal‐based bridge inspection (Balaguer, Gimenez, & Jardon, 2005; Balaguer, Gimenez, Pastor, Padron, & Abderrahim, 2000), a series of autonomous inspection robots to move along the outside or inside of piping (Suzuki, Yukawa, & Satoh, 2006; Yukawa, Suzuki, Satoh, & Okano, 2006), and a hybrid pole climbing and manipulating robot (Tavakoli, Zakerzadeh, Vossoughi, & Bagheri, 2005). However, these robots mainly perform climbing tasks in low‐altitude applications, such as the inspection of lampposts on highways, the vertical and inclined pipes in nuclear power plants, ground storage tanks, and other tube‐like structures.…”

Design Guidelines for an Embedded Permanent Magnetic Matrix Wheel Climbing Robot

“…The effects of different parameters on the adhesive force of magnetic wheels were studied by experiment and simulation. Yukawa et al [2] and [4]and Suzuki et al [3] showed the relationship between number of DPM ring magnets in the magnetic wheel adhesive force and friction of magnetic wheel on the ferromagnetic pipes. The effect of covering rubber and the different types of designed rims to the adhesive force and friction were investigated.…”

“…However, the magnetic wheels need to be designed to have sufficient magnetic adhesive force as well as traction in order to gain the adherence on the surface and the desired mobility of the robot. For the adherence of the robot, the adhesive force from magneto static force of magnetic wheel on the ferromagnetic surface were determined and analyzed by both experiment and simulation under change in magnetic wheel parameters such as thickness and geometry of flanges, number of ring magnets, covering tire as in many previous works such as example [2]- [6].…”