Architecture of an wheeled climbing robot with dynamic adjustment of the adhesion system

This paper presents the architecture of a climbing robot with wheeled locomotion and adhesion through permanent magnets. This machine is intended to be used in the inspection of ferromagnetic structures, in order to, for instance, detect weaknesses due to corrosion, particularly in aerogenerators towers, fuel tanks, ship hulls, etc. The vehicle is designed to have a semi-autonomous behavior, allowing a remote inspection process controlled by a technician, this way reducing the risks associated with the human inspection of tall structures and ATEX places. The particular characteristic of this robot is its dynamic adjustment system of the permanent magnets in order to assure the machine adhesion to the surfaces, even when crossing irregular and curved surfaces.