Tracked-wheel crawler robot for vertically aligned mooring chain climbing design:simulation and validation of a climbing robot for mooring chain
Conference paper
Dissanayake, M, Sattar, T, Howlader, O, Pinson, I and Gan, T-H (2017). Tracked-wheel crawler robot for vertically aligned mooring chain climbing design:simulation and validation of a climbing robot for mooring chain. IEEE International Conference on Industrial and Information Systems (ICIIS). Peradeniya, Sri Lanka 15 - 16 Dec 2017 Institute of Electrical and Electronics Engineers (IEEE). https://doi.org/10.1109/ICIINFS.2017.8300423
| Authors | Dissanayake, M, Sattar, T, Howlader, O, Pinson, I and Gan, T-H |
|---|---|
| Type | Conference paper |
| Abstract | Only a few attempts have been made to investigate the possibilities of developing chain climbing robot due to the complexity of the structure and physical nature of chain links. Mooring chains are subjected to large tidal waves, harsh environmental conditions and storms on a daily basis. Therefore, periodic inspection of the integrity of chain links is important. Work reported in this paper investigates the possibilities of mooring chain climbing by using tracked wheel locomotion. The permanent magnet adhesion, tracked wheel crawler robot developed for this purpose can climb on mooring chains both in air and underwater with a variable speed according to the inspection requirements (maximum speed of 42cm/minute). It is able to handle an external downward force of 50N during the climbing motion. Numerical modelling based analysis of a magnet adhesion module and the strength of the robot structure is validated with prototyping and testing of the concept. |
| Keywords | Chain climbing robot; Mooring chain climbing robot; Magnetic adhesion robot crawler; Mooring chain |
| Year | 2017 |
| Publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| Digital Object Identifier (DOI) | https://doi.org/10.1109/ICIINFS.2017.8300423 |
| Accepted author manuscript | License File Access Level Open |
| Publication dates | |
| 15 Dec 2017 | |
| Publication process dates | |
| Deposited | 31 May 2018 |
| Accepted | 17 Aug 2017 |
| Additional information | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |
Permalink -
https://openresearch.lsbu.ac.uk/item/86w72
Download files
255
total views450
total downloads5
views this month5
downloads this month
Export as
Related outputs
Robotic deployment of stabilized shearography unit for wind turbine blade inspection
Marques, V. and Sattar, T. (2022). Robotic deployment of stabilized shearography unit for wind turbine blade inspection. CLAWAR 2022: Robotics in Natural Settings. Springer. https://doi.org/10.1007/978-3-031-15226-9_35Wireless Communication with Mobile Inspection Robots Operating While Submerged Inside Oil Storage Tanks
Richard Anvo, Aman Kaur and Tariq P. Sattar (2022). Wireless Communication with Mobile Inspection Robots Operating While Submerged Inside Oil Storage Tanks. in: Robotics for a Sustainable Future Springer Nature. pp. 154-164Development of innovative automated solutions for the assembly of multifunctional thermoplastic composite fuselage
Omairey, S. L., Sampethai, S., Hans, L., Worrall, C., Lewis, S., Negro, D., Sattar, T., Ferrera, E., Blanco, E., Wighton, J., Muijs, L., Veldman, S. L., Doldersum, M., Tonnaer, R., Jayasree, N. and Kazilas, M. (2021). Development of innovative automated solutions for the assembly of multifunctional thermoplastic composite fuselage. International Journal of Advanced Manufacturing Technology. https://doi.org/10.1007/s00170-021-07829-2Development of a robot for in-service radiography inspection of subsea flexible risers
Kaur, A., Sattar, T., Richard A. and Tokhi, M. (2021). Development of a robot for in-service radiography inspection of subsea flexible risers. Journal of Artificial Intelligence and Technology. 1 (3). https://doi.org/10.37965/jait.2021.0015An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR
Garrido, G.G. and Sattar, T. (2021). An Autonomous Wall Climbing Robot for Inspection of Reinforced Concrete Structures: SIRCAUR. Journal of Artificial Intelligence and Technology. https://doi.org/10.37965/jait.2021.0016Wireless communication with mobile inspection robots while submerged inside oil storage tanks
Anvo, Richard, Kaur, Aman and Sattar, T. (2021). Wireless communication with mobile inspection robots while submerged inside oil storage tanks. Robotics for Sustainable Future - CLAWAR 2021. Kwansei Gakuin University (KGU), Takarazuka, Japan 30 Aug - 01 Sep 2021 Springer.Climbing robot to perform radiography of wind blades
Sattar, T., Marques, V., Anvo, R.N., Garrido, G.G., Kaur, A., Routledge, P. and Markham, K. (2021). Climbing robot to perform radiography of wind blades . Robotics for Sustainable Future - CLAWAR 2021. Kwansei Gakuin University (KGU), Takarazuka, Japan 30 Aug - 01 Sep 2021 Springer.SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot
Garrido, GG, Dissanayake, M, Sattar, T, Plastropoulos, A and Hashim, M (2020). SIRCAUR: Safe inspection of reinforced concrete structures by autonomous robot. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Moscow 24 - 26 Aug 2020 https://doi.org/10.13180/clawar.2020.24-26.08.id#Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls
Tokhi, MO and Sattar, TP (2020). Design and parametric investigations of permanent magnet adhesion mechanism for robots climbing on reinforced concrete walls. CLAWAR 2020: 23rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines,. Moscow 24 - 26 Aug 2020Royal Society Summer Science Exhibition "Robot Detectives: Sherlock Holmes meets Spiderman"
Sattar, T (2019). Royal Society Summer Science Exhibition "Robot Detectives: Sherlock Holmes meets Spiderman".Robot Detectives: Sherlock Homes meets Spiderman
Sattar, T (2019). Robot Detectives: Sherlock Homes meets Spiderman. ICC Excel Centre, London 10 - 12 Mar 2011Development of an automated mobile robot vehicle inspection system for ndtof large steel plates
Rakocevic, M, Wang, X, Chen, S, Khalid, A, Sattar, T and Bridge, B (1999). Development of an automated mobile robot vehicle inspection system for ndtof large steel plates. Insight. 41 (6), pp. 376-382.Development of a Chain Climbing Robot and an Automated Ultrasound Inspection System for Mooring Chain Integrity Assessment
Dissanayake, M (2018). Development of a Chain Climbing Robot and an Automated Ultrasound Inspection System for Mooring Chain Integrity Assessment. PhD Thesis London South Bank University School of Engineering https://doi.org/10.18744/LSBU.003177Development of CLAWAR Systems that combine the functions of Monitoring, Mobility, Manipulation and Measurement for Industrial Inspection Tasks
Sattar, TP, Bridge, B, Chen, S and Zhao, Z (2003). Development of CLAWAR Systems that combine the functions of Monitoring, Mobility, Manipulation and Measurement for Industrial Inspection Tasks. 6th International Conference on Climbing and Walking Robots and their Supporting Technologies, CLAWAR 2003. Catania, Italy 17 - 19 Sep 2003 Professional Engineering Publishing Ltd, UK. pp. 699-706PDA Depth Control of a FPSO Swimming Robot
Shang, J, Sattar, TP and Leon-Rodriguez, HE (2006). PDA Depth Control of a FPSO Swimming Robot. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 541-544Design of a Climbing Robot for Inspecting Aircraft Wings and Fuselage
Shang, J, Sattar, TP and Leon-Rodriguez, HE (2006). Design of a Climbing Robot for Inspecting Aircraft Wings and Fuselage. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 552-557Portable 7 DOF Scanning Arm For Non-destructive Inspection Of Objects With Unknown Geometry
Sattar, TP and Brenner, A (2006). Portable 7 DOF Scanning Arm For Non-destructive Inspection Of Objects With Unknown Geometry. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 527-532Wall Climbing And Pipe Crawler Robots For Nozzle Weld Inspection Inside Nuclear Pressure Vessels
Leon-Rodriguez, HE, Sattar, T, Shang, J, Bouloubasis, AK and Markopoulos, YP (2006). Wall Climbing And Pipe Crawler Robots For Nozzle Weld Inspection Inside Nuclear Pressure Vessels. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 545-551Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot
Sattar, TP, Zhao, Z, Feng, J, Bridge, B, Mondal, S and Chen, S (2002). Internal in-service inspection of the floor and walls of oil, petroleum, and chemical storage tanks with a mobile robot. 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Paris, France 25 - 27 Sep 2002 pp. 947-954Tofd inspection of v-groove butt welds on the hull of a container ship with a magnetically adhering wall climbing robot
Mondal, S, Sattar, TP and Bridge, B (2002). Tofd inspection of v-groove butt welds on the hull of a container ship with a magnetically adhering wall climbing robot. 5th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Paris, France 25 - 27 Sep 2002 pp. 955-961ROBAIR: Mobile Robotic System to Inspect Aircraft Wings and Fuselage
Sattar, TP, Chen, S, Bridge, B and Shang, J (2003). ROBAIR: Mobile Robotic System to Inspect Aircraft Wings and Fuselage. Robotics and Factories of the Future. 2, pp. 795-802.The Centre for Automated and Robotic Non-Destructive Testing
Sattar, TP and Bridge, B (2005). The Centre for Automated and Robotic Non-Destructive Testing. CLAWAR Newsletter, GROWTH Thematic Network on Climbing and Walking Robotics: Mobile robotic demonstrators and applications.7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry
Sattar, TP and Brenner, A (2005). 7-axis Arm for NDT of Surfaces with Complex & Unknown Geometry. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). London South Bank University, London, UK 12 - 15 Sep 2005 Springer. pp. 943-950 https://doi.org/10.1007/3-540-26415-9-113Automated NDT of floating production storage oil tanks with a swimming and climbing robot
Sattar, TP, Rodriguez, H, Shang, J and Bridge, B (2006). Automated NDT of floating production storage oil tanks with a swimming and climbing robot. 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005). London South Bank University, London, UK 12 - 15 Sep 2005 Springer. pp. 935-942 https://doi.org/https://www.doi.org/10.1007/3-540-26415-9-112Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks
Sattar, TP, Leon-Rodriguez, HE, Shang, J, Gan, T and Lagonikas, A (2006). Amphibious Robot For Weld Inspection Inside Floating Production Oil Storage Tanks. 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Brussels, Belgium 12 - 14 Sep 2006 pp. 533-540Climbing ring robot for inspection of offshore wind turbines
Rodriguez, HL, Bridge, B and Sattar, TP (2008). Climbing ring robot for inspection of offshore wind turbines. in: Marques, L, de Almeida, A, Tokhi, MO and Virk, GS (ed.) Advances in Mobile Robotics World Scientific Publishing. pp. 555-562Robotic non-destructive testing
Sattar, TP (2010). Robotic non-destructive testing. Industrial Robot: An International Journal. 37 (5). https://doi.org/10.1108/ir.2010.04937eaa.002Towards Optimum Design Of Magnetic Adhesion Wall Climbing Wheeled Robots
Sattar, T, Salman, H and Salinas, E (2011). Towards Optimum Design Of Magnetic Adhesion Wall Climbing Wheeled Robots. Khan, KM and Win, NL (ed.) 26th International Conference on CAD/CAM, Robotics and Factories of the Future 2011. Kuala Lumpur, Malaysia 26 - 28 Jul 2011 pp. 716-728An ICT-Enabled Approach to Optimising the Reliability of Manual Ultrasonic Non-Destructive Testing
Bennecer, A, Selcuk, C, Gan, TH, Sattar, TP, Edwards, G, Girolami, M, Chatzakos, A and Lopatka, R (2012). An ICT-Enabled Approach to Optimising the Reliability of Manual Ultrasonic Non-Destructive Testing. BINDT Aerospace Symposium. Northamptonshire, UK 11 - 13 Sep 2012Disseminating mechatronics research results (via science and engineering exhibitions)
Sattar, T and Salinas, E (2014). Disseminating mechatronics research results (via science and engineering exhibitions). 15th International Workshop on Research and Education in Mechatronics (REM). El Gouna, Egypt 09 - 11 Sep 2014 pp. 1-7 https://doi.org/https://www.doi.org/10.1109/REM.2014.6920236Underwater wall climbing robot for nuclear pressure vessel inspection
Rodriguez, H, Sattar, T and Shang, J (2008). Underwater wall climbing robot for nuclear pressure vessel inspection. 2008 International Conference on Climbing and Walking Robots. Coimbra, Portugal 05 - 08 Sep 2008 World Scientific Publishing. pp. 605-612Robotic system for inspection of test objects with unknown geometry using NDT methods
Brenner, AA and Sattar, TP (2008). Robotic system for inspection of test objects with unknown geometry using NDT methods. 11th International Comference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Coimbra, Portugal 08 - 10 Sep 2008 pp. 589-596Distributed mobile robots
Sattar, T, Patel, T and Rodriguez, HL (2010). Distributed mobile robots. 13th International Conference on Climbing and Walking Robots and the Support Technology for Mobile Machines. Japan 31 Aug - 03 Sep 2010 pp. 106-114Identification of Fatigue Damage Evaluation using Entropy of Acoustic Emission Waveform
Santo, F., Sattar, T., Mba, D. and Edwards, G. (2019). Identification of Fatigue Damage Evaluation using Entropy of Acoustic Emission Waveform. SN Applied Sciences. 2 (138). https://doi.org/10.1007/s42452-019-1694-7Validation of Acoustic Emission Waveform Entropy as a Damage Identification Feature
Santo, F., Sattar, T. and Edwards, G. (2019). Validation of Acoustic Emission Waveform Entropy as a Damage Identification Feature. Applied Sciences. 9 (4070), p. 27. https://doi.org/10.3390/app9194070Experimental and Numerical Optimization of Magnetic Adhesion Force for Wall Climbing Robot Applications
Sahbel, A., Abbas, A and Sattar, T (2019). Experimental and Numerical Optimization of Magnetic Adhesion Force for Wall Climbing Robot Applications. International Journal of Mechanical Engineering and Robotics Research. 8 (1), pp. 18-24. https://doi.org/10.18178/ijmerr.8.1.18-24