Title :
Tubulo — A train-like miniature inspection climbing robot for ferromagnetic tubes
Author :
Schoeneich, Patrick ; Rochat, Frédéric ; Nguyen, Olivier Truong-Dat ; Caprari, Gilles ; Moser, Roland ; Bleuler, Hannes ; Mondada, Francesco
Author_Institution :
Lab. de Syst. Robotiques (LSRO), Ecole Polytech. Fed. de Lausanne (EPFL), Lausanne, Switzerland
Abstract :
A train-like miniature climbing inspection robot for ferromagnetic tubes is presented in this paper. Using magnetic wheels, it climbs in tubes of 25 mm of diameter and bigger in any orientation, and pass bends with curvatures above 150 mm in some cases. It has embedded electronics and energy, and can transmit images through a cable. Applications are in tubes inspections as found in power plant boilers for example.
Keywords :
boilers; ferromagnetic materials; industrial robots; inspection; mobile robots; pipes; service robots; wheels; Tubulo robot; ferromagnetic tubes; magnetic wheels; power plant boilers; train-like miniature inspection climbing robot; tube inspection; Electron tubes; Force; Inspection; Mobile robots; Service robots; Wheels; inspection; magnetic forces; mobile robots; robot sensing systems;
Conference_Titel :
Applied Robotics for the Power Industry (CARPI), 2010 1st International Conference on
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4244-6633-7
DOI :
10.1109/CARPI.2010.5624462
