Design and Prototype of a Magnetic Adhesion Tracked-Wheel Robotic Platform for Mooring Chain Inspection

Journal article


Dissanayake, M, Sattar, TP, Gan, T-H, Pinson, I and Shehan, L (2018). Design and Prototype of a Magnetic Adhesion Tracked-Wheel Robotic Platform for Mooring Chain Inspection. Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering. 232 (8), pp. 1063-1074. https://doi.org/10.1177/0959651818774479
AuthorsDissanayake, M, Sattar, TP, Gan, T-H, Pinson, I and Shehan, L
Abstract

The development of climbing robots for mooring chain applications are still in its infancy due to the operational complexity and the geometrical features of the chain. Mooring chains are subjected to high tidal waves, harsh environmental conditions and storms in daily basis. Therefore, the integrity assessment of chain links is vital and regular inspection is mandatory for offshore structures. The Magnetic adhesion tracked-wheel crawler robot technique presented in this study is suitable for mooring chain climbing both in air and underwater (in-situ conditions). The robotic platform which is presented in this paper can climb mooring chains at a maximum speed of 42 cm/minute with an external load of 50 N. A numerical study was conducted to investigate the adhesion module and structural design related analysis. Numerical results are validated using a prototyped robot in laboratory conditions. The proposed robot can be used as a platform to convey equipment i.e. tools for non-destructive testing applications.

KeywordsMooring chain; Chain climbing robot; Crawler Robot; Magnetic adhesion robot; Tracked-wheel crawler; Inspection platform; Numerical modelling; Robot Design; 01 Mathematical Sciences; 09 Engineering
Year2018
JournalProceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering
Journal citation232 (8), pp. 1063-1074
PublisherSage
ISSN0959-6518
Digital Object Identifier (DOI)https://doi.org/10.1177/0959651818774479
Publication dates
Print21 May 2018
Publication process dates
Deposited18 May 2018
Accepted27 Apr 2018
Accepted author manuscript
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Open
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Howlader, OF and Sattar, TP (2016). Miniaturized dipole antenna development for low frequency ground penetrating radar (GPR) system. IET Colloquium on Antennas, Wireless and Electromagnetics. Glasgow, Scotland 26 - 26 May 2016 Institute of Engineering and Technology (IET). https://doi.org/10.1049/ic.2016.0040
Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures
Sattar, TP, Howlader, MOF and Dudley, S (2016). Development of a Wall Climbing Robotic Ground Penetrating Radar System for Inspection of Vertical Concrete Structures. International Journal of Mechanical, Aerospace, Industrial, Mechatronic and Manufacturing Engineering. 10 (8), pp. 1346-1352.
Deployment of laser cutting head with wall climbing robot for nuclear decommissioning
Sattar, TP, Hilton, P and Howlader, MOF (2016). Deployment of laser cutting head with wall climbing robot for nuclear decommissioning. 19th International Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (CLAWAR 2016). London 12 - 14 Sep 2016 World Scientific Publishing.
Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges
Sattar, TP (2016). Safeguarding Safety Critical Infrastructure with Mobile Robot Inspectors , Opportunities and Challenges. International Conference on Sustainable Vital Technologies in Engineering and Informatics, BUE ACE1 2016. Cairo, Egypt 07 - 09 Nov 2016
Numerical fitting-based likelihood calculation to speed up the particle filter
Li, T, Sun, S, Corchado, JM, Sattar, TP and Si, S (2016). Numerical fitting-based likelihood calculation to speed up the particle filter. International Journal of Adaptive Control and Signal Processing. 30 (11), pp. 1583-1602. https://doi.org/10.1002/acs.2656
Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots
Sattar, TP (2014). Non-destructive testing and condition monitoring with mobile wall climbing and swimming robots. 11th International Conference on Condition Monitoring and Machinery Failure Prevention Technologies (CM 2014/MFPT 2014). Manchester, UK 10 - 12 Jun 2014 British Institute of Non-Destructive Testing (BINDT).
Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications
Oumar, O A, Siyau, M F and Sattar, T. (2012). Comparison of MUSIC and ESPRIT DOA Estimation algorithms for Wireless Communications. The First International Conference on Future Generation Communication Technologies. London 12 - 14 Dec 2012