OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

Tavakoli, Mahmoud; Viegas, Carlos; Marques, Lino; Pires, J. Norberto; Almeida, Anı́bal T. de

doi:10.1016/j.robot.2013.05.005

Cited by 109 publications

(41 citation statements)

References 30 publications

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“…El sistema de traslación, en la mayoría de los robots existentes en el mercado, se basa en el uso de elementos rodantes, ya sean ruedas omnidireccionales (figura 3) (Tavakoli et al, 2013), ruedas de oruga, ruedas fijas y ruedas orientables. En algunos casos, son las propias ruedas las que tienen insertados los imanes (figura 4) desempeñando en este caso la doble función de sustentación y traslación.…”

Section: B Sistemas De Sustentación Autónomosunclassified

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Riobo

Espelosín

Montano

et al. 2018

ADE

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Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas. New robotic systems of inspection and intervention in façade rehabilitation. Resumen-La construcción de edificios cada vez más altos, la puesta en marcha de la ITV de edificios de más de 50 años y los avances tecnológicos son tres factores que hacen cada vez más interesante, e incluso necesario, el desarrollo de nuevos sistemas de inspección que faciliten dichas actuaciones. La robotización en estas tareas debe dar lugar a una optimización de los procesos (menor tiempo, menor coste), disminución de riesgos laborales, así como la minimización de las afecciones en el tráfico y las molestias a los viandantes en torno al edificio. Este artículo, generado dentro del proyecto ROBIM financiado por Centro de Desarrollo Tecnológico Industrial en la Convocatoria CIEN 2016, presenta los avances tecnológicos producidos en los últimos años en las labores de inspección de fachadas yendo desde los procesos más manuales y costosos en tiempo y dinero hasta las últimas novedades existentes donde la automatización del proceso de inspección empieza a cobrar peso. En especial, el estudio se focaliza en analizar los diferentes robots existentes en el panorama internacional en tareas de inspección de superficies verticales, el conocer que tecnologías de fijación utilizan y cómo se trasladan a lo largo de la fachada.Palabras clave-Inspección, robot, rehabilitación, fachada.Abstract-The construction of increasingly higher buildings, the implementation of the ITV of buildings over 50 years and technological advances are three factors that make it increasingly interesting, and even necessary, the development of new inspection systems that facilitate said actions. The robotization in these tasks must lead to an optimization of the processes (less time, lower cost), reduction of occupational risks, as well as the minimization of traffic conditions and the inconvenience to pedestrians around the building. This article, generated within the ROBIM project funded by the Center for Industrial Technological Development in the CIEN 2016 Call, presents the technological advances produced in recent years in the inspection of facades from the most manual and costly processes in time and money to the latest news where the automation of the inspection process begins to gain weight. In particular, the study focuses on analyzing the different existing robots in the international landscape in vertical surface inspection tasks, knowing which fixing technologies they use and how they move along the façade.

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Section: B Sistemas De Sustentación Autónomosunclassified

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Riobo

Espelosín

Montano

et al. 2018

ADE

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“…Assuming ¼ 1 and a _ y þ by ¼ K 2 ðx À yÞ, the coefficient values can be calculated by equation (16) according to equations (11) and (15).…”

Section: Airbagmentioning

confidence: 99%

“…10 Unlike other robotic systems, the gravitational effect is so dominant that different approaches are required for the robot system to operate on the façade. 1 To overcome the gravitational effects, several studies have been conducted using various methods such as magnetic adsorption, 3,9,10,[11][12][13][14][15][16] biomimetic adsorption, 17,18 gripping type, 19 rail-guided type, 20 negative pressure adsorption, 21,22 and so on. Grieco et al developed a six-legged climbing robot prototype able to climb on ferromagnetic walls carrying high payloads available for inspection, maintenance, and intervention tasks in industrial environments.…”

Section: Introductionmentioning

confidence: 99%

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Design of a climbing robot platform with protection device

Altaf

Ahmad

et al. 2017

International Journal of Advanced Robotic Systems

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In this article, a new wall-climbing robot platform with protection devices for city inspection is developed. After an overall structural introduction, the main protection devices of the robot are described in detail, including the support frame, the Ethylene Vinyl Acetate (EVA) shell, and the airbag. The support frame plays the roles of chassis and protection framework, so integrative and lightweight design is required. The EVA shell covers the support frame, and it protects the robot from overturn falling down from the wall. The airbag is designed both for sealing and protection. The mechanical model of the airbag is established based on the engineering thermodynamics theory and is used for force analysis when robot falls down on the ground. In addition, two-level distributed control system is designed to achieve the control of fan speed, straight moving, differential steering, position servo, and video transmission. To verify the feasibility of the climbing robot, many experiments are conducted, that is, experiments of movement, load capacity, adaptability to the wall surfaces, endurance, camera, sensor, and antithrow. The results show that the actual working performance of the climbing robot is favorable, thus providing a train of thought and inspiration for the antithrow design of climbing robot.

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“…In addition, the fundamental limitation of a UAV is that, it cannot access the ceiling surface of bridge structure or a building. For this reason, robots having the capability of adhering to the ceiling or wall has got an attention from the robotics research society [6][7][8][9][10]. So far, their fundamental limitation is that they can move only on the face of the wall, and cannot fly in the air.…”

Section: Introductionmentioning

confidence: 99%

Prototype Design and Experimental Test of a Rotorcraft Capable of Adhering to and Moving on the Ceiling

Yasunaga

Lee

Okamoto

2016

MATEC Web of Conferences

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Abstract. This paper presents the prototype design and evaluation of a novel rotorcraft that can adhere to and move on the ceiling. It has four propellers for flying like conventional rotorcraft. In addition, a specialized guard frame and two active wheels are attached on its body frame for adhering to and moving on the ceiling. The propellers create negative pressure in the guard frame that acts as a suction cup for generating adhesion force. The active wheels are used for moving on the ceiling face. Experiments are carried out to show the feasibility of flying in the air, adhering to, and moving on the ceiling.

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OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

Cited by 109 publications

References 30 publications

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Nuevos sistemas robóticos de inspección e intervención en rehabilitación de fachadas = New robotic systems of inspection and intervention in façade rehabilitation

Design of a climbing robot platform with protection device

Prototype Design and Experimental Test of a Rotorcraft Capable of Adhering to and Moving on the Ceiling

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