Mooring chain climbing robot for NDT inspection applications
Kimball, M, Amit, A, Gmerek, A, Collins, P, Wheateley, A, Shah, K, Liu, J, Dissanayake, M, Caroll, J, Plastropoulos, A, Karfakis, P, Virk, GS and Sattar, TP (2018). Mooring chain climbing robot for NDT inspection applications. Climbing and Walking Robots and Support Technologies for Mobile Machines CLAWAR 2018. Panama City, Panama 10 - 12 Sep 2018 World Scientific Publishing Co.
|Authors||Kimball, M, Amit, A, Gmerek, A, Collins, P, Wheateley, A, Shah, K, Liu, J, Dissanayake, M, Caroll, J, Plastropoulos, A, Karfakis, P, Virk, GS and Sattar, TP|
Inspection of mooring chains is an important but dangerous and costly procedure covering inspection above and below the waterline. The paper presents initial results from the RIMCAW project which aimed at designing and building an inspection robot able to climb mooring chains and deploy NDT technologies for scanning individual links thereby detecting critical defects. The paper focuses on the design and realisation of the inchworm type novel crawler developed and tested in the TWI Middlesbrough, UK water tank.
|Keywords||Mooring chain NDT; Mooring chain Climbing Robot; Chain Inspection; Inchworm robot; Stewart Platform|
|Publisher||World Scientific Publishing Co|
|Accepted author manuscript|
File Access Level
|10 Sep 2018|
|Publication process dates|
|Deposited||26 Jun 2018|
|Accepted||26 Jun 2018|
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