Modelling of magnetic adhesion robot for NDT inspection of large metal structures

Conference paper

Shirkoohi, M. and Zhao, Z (2017). Modelling of magnetic adhesion robot for NDT inspection of large metal structures. CLAWAR 2017: 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines. Porto, Portugal 11 - 13 Sep 2017 World Scientific Publishing. https://doi.org/10.1142/9789813231047_0056
AuthorsShirkoohi, M. and Zhao, Z
TypeConference paper
Abstract

Non-destructive evaluation of structures such as ships and large oil tanks can be rapidly carried out using robots employing magnetic adhesion. This eliminates the need for the use of laborious suction systems, usually employed in climbing robots. However, since the operation of the robot is very much dependent on the speed at which the robot can move before the adhesion is lost, there is a need for determining limits at which magnetic force becomes ineffective. Finite element models and dynamic solution of magnetically supported robots have been presented in order to determine the speed limits at which they can operate.

KeywordsMagnetic adhesion; Velocity modeling,; Eddy currents
Year2017
PublisherWorld Scientific Publishing
Digital Object Identifier (DOI)https://doi.org/10.1142/9789813231047_0056
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Print01 Oct 2017
Publication process dates
Deposited10 Oct 2017
Accepted11 Sep 2017
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