R-Track: Separable Modular Climbing Robot Design for Wall-to-Wall Transition

Park, Changmin; Bae, Jangho; Ryu, Sijun; Lee, Jiseok; Seo, TaeWon

doi:10.1109/lra.2020.3015170

Cited by 18 publications

(5 citation statements)

References 15 publications

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“…Commercially available parts were sourced for the generic design of the robot which was equipped with both computational and long-range control capabilities. The tracking mechanism employed also allows for navigation over rough and unstructured terrains although this does not permit wall transition as seen in the work of Changmin et al [36]. This was subsequently tested, and the results are shown in figure 5.…”

Section: Discussionmentioning

confidence: 99%

Modular climbing robot design with automated vision-based defect classification

Oyekola¹,

Syed²

2023

J Appl Eng Science

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In the examination of critical infrastructure for failure, common problems faced are restricted access to the inspection site, size and geometry constraints, cost, and extended inspection period. Facilities such as marine vessels, petrochemical pressure vessels, rail lines, and airplane fuselage, are regularly inspected. Mostly manual techniques with sensors like cameras and non-destructive testing kits are usually employed in detecting structural defects such as cracks and corrosion which constitute the central part of the cost and time spent. This paper, therefore, describes the design of a modular climbing robot for industrial inspection of structures. The main aim of improving and automating defect classification and identification is achieved by applying computer vision with an embedded wireless camera. YOLOv4 machine learning algorithm is implemented to identify and classify surface cracks and corrosion. The robot design combines a set of 6-DOF modular arm and tracked locomotion system. Embedded magnets are integrated into the design to aid navigation on vertical ferromagnetic structures and uneven surfaces. The final design shows that the robot can successfully navigate ferromagnetic structures, detect defects, and climb over moderately sized obstacles without loss of adhesion. This ensures performance in unfriendly and inaccessible environments, reducing costs and inspection time considerably.

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Section: Discussionmentioning

confidence: 99%

Modular climbing robot design with automated vision-based defect classification

Oyekola¹,

Syed²

2023

J Appl Eng Science

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“…For example, the tracked robot proposed in [ 20 ] combines magnetic caterpillars and can climb over uneven ferromagnetic surfaces with a speed of up to 7 m/min for vertical structure inspection in shipbuilding. In addition, multi-body tracked magnetic climbing robots can be formed, and transition between different planes can be realized by coordinating different single robots [ 53 ]. The reciprocating mechanism and roller chains can be integrated with a magnetic track to enable adaptation to different structural shapes with coated or noncoated steel surfaces and the transition between different surfaces [ 48 ].…”

Section: Adhesion Principles For Climbing Robotsmentioning

confidence: 99%

“…(b) Crawler locomotion can be based on traditional tracks or composed of modular systems. Adapted with permission from Refs [ 20 , 53 ], respectively. For intermittent locomotion, (c) legged locomotion has both traditional and novel multilegged mechanisms.…”

Section: Locomotion Mechanisms For Climbing Robotsmentioning

confidence: 99%

“…The tracked climbing robot may be modular and capable of reconfiguring. The modular tracked climbing robot joined using a particular connecting mechanism can actively apply torque to increase the contact force between the tracks and climbing surface for smoother surface transitions and obstacle crossing [ 53 ].…”

Section: Locomotion Mechanisms For Climbing Robotsmentioning

confidence: 99%

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Climbing robots for manufacturing

Tao

Gong

Ding

2023

National Science Review

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Robotized intelligent manufacturing is a growing trend in the manufacturing of large and complex components in aviation, aerospace, marine engineering and other industries. With their expansive workspaces and flexible deployment, climbing manufacturing robots can create a revolutionary manufacturing paradigm for large and complex components. This paper defines the climbing manufacturing robot based on the application status of climbing robots and then analyses four key technical requirements: adhesion, locomotion, localisation and control. Subsequently, the current research status of climbing robots in these four areas is classified and reviewed, along with a clarification of the research frontiers and trends in each area, and the applicability of the relevant research to manufacturing-oriented climbing robotic systems is analysed. Finally, by concluding the development trends of robotized intelligent manufacturing equipment in terms of manufacturing dimension and scale, environmental adaptability and cluster collaboration capability, we clarify the major challenges for climbing manufacturing robots in terms of adhesion principles, motion mechanisms, positioning technology and control methods, and propose future research directions in these fields.

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“…But at the same time, the separation of magnetic wheel and pipe wall is not easy. In [29], Park et al proposed a tracked climbing robot, which was composed of three separable modular units, and the permanent magnets were distributed on the track of each unit. The cooperation of multiple modules could cope with some complex terrain, such as perpendicular wall-to-wall transitions.…”

Section: Introductionmentioning

confidence: 99%

Design, Analysis, and Control of a Multilink Magnetic Wheeled Pipeline Robot

Gao,

Huang,

Tang

et al. 2022

IEEE Access

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This paper presents a multi-link magnetic wheeled pipeline robot (PR-I), which is a flexible and modular robotic mechanism. It is designed for inspection, cleaning or disinfection of central air conditioning ventilation duct. PR-I can adapt to complex pipeline terrain, and move in the ventilation ducts freely. A novel magnetic wheel is proposed for wall climbing, which is circumferentially embedded with rectangular permanent magnets. Firstly, the wall climbing model is established to obtain the adsorption conditions, then the effects of the magnetizing direction of the magnets, magnetic wall thickness and gap on the magnetic force are analyzed by finite element method. Finally, the optimal magnetic wheel structure is obtained through dynamic simulation analysis. The motion control of the robot is carried out in an embedded system. Two fuzzy controllers based on ranging sensor and IMU are proposed for straight motion and turning motion, and gait sequences are designed for obstacle surmounting. The performance of the robot was evaluated in a real ventilation duct. The experimental results show that PR-I has good trafficability and control performance in various terrains.

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R-Track: Separable Modular Climbing Robot Design for Wall-to-Wall Transition

Cited by 18 publications

References 15 publications

Modular climbing robot design with automated vision-based defect classification

Modular climbing robot design with automated vision-based defect classification

Climbing robots for manufacturing

Design, Analysis, and Control of a Multilink Magnetic Wheeled Pipeline Robot

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