Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing

Zhang, Xiaojun; Zhang, Xuan; Zhang, Minglu; Sun, Liang; Li, Manhong

doi:10.3390/s20164582

Cited by 15 publications

(7 citation statements)

References 27 publications

(28 reference statements)

Supporting

Mentioning

Contrasting

Order By: Relevance

“…After welding, the welds are inspected on-site for NDT. Magnetic particle testing [38] and ultrasonic testing [39] are widely used for inspection of welds quality due to their respective advantages. Terefore, we choose magnetic particle testing and ultrasonic testing to inspect the quality of the polished track, as shown in Figure 8.…”

Section: Nondestructive Testing (Ndt)mentioning

confidence: 99%

Numerical Simulation and Test Study on Track Welding of QTT

et al. 2023

Advances in Astronomy

View full text Add to dashboard Cite

Considering the stringent requirement of the pointing accuracy up to 2.5″ of the world’s largest full steerable radio telescope, this paper studies the welding experiment of the azimuth track of the antenna. First, the opposite deformation jig and welding process were designed for the QTT’s azimuth track. Then, the welding process was numerically simulated using a finite element model. The simulation results show that a better welding effect will be obtained by appropriately reducing the opposite force on the basis of the original. The three deformation processes of the track are regulated by the opposite deformation jig. The results show that the opposite deformation jig designed for QTT’s azimuth track can make the amount of deformation and flatness meet the design requirements. Finally, nondestructive testing was carried out to check the welding quality of the track surface and interior. The results show that there are no obvious defects in the welds of the azimuth track. The constraint jig and welding processes designed for QTT are effective and feasible.

show abstract

Section: Nondestructive Testing (Ndt)mentioning

confidence: 99%

Numerical Simulation and Test Study on Track Welding of QTT

et al. 2023

Advances in Astronomy

View full text Add to dashboard Cite

show abstract

“…Extensive experiments prove its stable wall climbing ability and excellent cleaning performance. 5 In addition, wall-climbing robots are used in ship rust removal, [6][7][8] bridge maintenance, [9][10][11] building cleaning, 12,13 investigation and rescue 14,15 and other fields.…”

Section: Introductionmentioning

confidence: 99%

Multi-body dynamics model of crawler wall-climbing robot

Fang

Wang

Cui

et al. 2022

Proceedings of the Institution of Mechanical Engineers, Part K:

View full text Add to dashboard Cite

In this paper, a crawler-type wall-climbing robot with negative pressure adsorption is designed. The dynamic model of the robot is established based on the method of discretizing the force load of the track shoe. The correctness of the kinematic model and dynamic model is proved by comparing two different ways of virtual prototype simulation and prototype experiment. According to the simulation results of the dynamic model and virtual prototype, the influence of design parameters on the motion performance of the wall-climbing robot is analyzed. The smaller the speed difference between the two tracks of the robot, the longer the gauge between the two tracks, and the greater the inclination of the adsorption wall, the larger the turning radius of the robot will be. The research content based on this paper can provide a new design optimization method and theoretical basis for improving crawler wall-climbing robots and crawler vehicles.

show abstract

“…Climbing robots are crucial for health-monitoring and safety maintenance of structures [ 1 , 2 ]. Climbing robots can carry various instruments and equipment to perform inspection and maintenance operations on the surfaces of structures and small interior spaces [ 3 , 4 , 5 ], such as for high-altitude curtain wall cleaning [ 6 , 7 , 8 ], ship cleaning [ 9 , 10 , 11 ], and crack detection [ 12 , 13 , 14 ].…”

Section: Introductionmentioning

confidence: 99%

Wind Resistance Mechanism of an Anole Lizard-Inspired Climbing Robot

Feng

Yan

et al. 2022

Sensors

View full text Add to dashboard Cite

The stable operation of climbing robots exposed to high winds is of great significance for the health-monitoring of structures. This study proposes an anole lizard-like climbing robot inspired by its superior wind resistance. First, the stability mechanism of the anole lizard body in adhesion and desorption is investigated by developing adhesion and desorption models, respectively. Then, the hypothesis that the anole lizard improves its adhesion and stability performance through abdominal adjustment and trunk swing is tested by developing a simplified body model and kinematic model. After that, the structures of the toe, limb, and multi-stage flexible torso of the anole lizard-like climbing robot are designed. Subsequently, the aerodynamic behavior of the proposed robot under high-speed airflow are investigated using finite element analysis. The results show that when there is no obstacle, the climbing robot generates the normal force to enhance toepad friction and adhesion by tuning the abdomen’s shape to create an air pressure difference between the back and abdomen. When there is an obstacle, a component force is obtained through periodic oscillation of the spine and tail to resist the frontal winds resulting from the vortex paths generated by the airflow behind the obstacle. These results confirm that the proposed hypothesis is correct. Finally, the adhesion and wind resistance performance of the anole lizard-like climbing robot is tested through the developed experimental platform. It is found that the adhesion force is equal to 50 N when the pre-pressure is 20 N. Further, it is shown that the normal pressure of the proposed robot can reach 76.6% of its weight in a high wind of 14 m/s.

show abstract

Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing

Cited by 15 publications

References 27 publications

Numerical Simulation and Test Study on Track Welding of QTT

Numerical Simulation and Test Study on Track Welding of QTT

Multi-body dynamics model of crawler wall-climbing robot

Wind Resistance Mechanism of an Anole Lizard-Inspired Climbing Robot

Contact Info

Product

Resources

About