Title :
A wall climbing robot with closed link mechanism
Author :
Choi, H.R. ; Ryew, S.M. ; Kang, T.H. ; Lee, J.H. ; Kim, H.M.
Author_Institution :
Sch. of Mech. Eng., Sung Kyun Kwan Univ., Suwon, South Korea
Abstract :
A compact and robust wall climbing robot, called MRWALLSPECT, has been developed. The robot is designed for scanning external surfaces of gas or oil tanks and inspecting defects with nondestructive testing tools during navigation. It accomplishes fundamental three-degree-of-freedom locomotion such as translation and rotation over the wall with a novel closed link mechanism that we have originally devised. Its design and implementation issues are discussed and the results of tests are addressed
Keywords :
inspection; legged locomotion; motion control; navigation; robot kinematics; gait control; gas tanks; inspection; kinematics; legged locomotion; mobile robots; navigation; oil tanks; wall climbing robot; Actuators; Adhesives; Climbing robots; Crawlers; Instruments; Legged locomotion; Navigation; Propulsion; Robotics and automation; Robustness;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.895265
