Magnetic omnidirectional wheels for climbing robots

This paper describes design and development of omnidirectional magnetic climbing robots with high maneuverability for inspection of ferromagnetic 3D human made structures. The main focus of this article is design, analysis and implementation of magnetic omnidirectional wheels for climbing robots. We discuss the effect of the associated problems of such wheels, e.g. vibration, on climbing robots. This paper also describes the evolution of magnetic omnidirectional wheels throughout the design and development of several solutions, resulting in lighter and smaller wheels which have less vibration and adapt better to smaller radius structures. These wheels are installed on a chassis which adapts passively to flat and curved structures, enabling the robot to climb and navigate on such structures.