Development of a novel crawler based robot for mooring chain climbing
Dissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I (2017). Development of a novel crawler based robot for mooring chain climbing. 20th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR). Porto, Portugal 11 - 13 Sep 2017 Singapore World Scientific Publishing.
|Authors||Dissanayake, M, Howlader, MOF, Sattar, TP, Gan, T and Pinson, I|
Mooring systems experience high tidal waves, storms and harsh environmental conditions. Therefore, ensuring the integrity of mooring chain is important. The aim of the work reported in this paper is to develop a robotic system that performs in-service non-destructive testing of mooring chains. The inspection system is an autonomous device that operates in air as well as underwater. The permanent magnet adhesion crawler robot developed can climb mooring chains at a speed of 42cm/minute with a pay load of 50N. FEA study of the magnetic adhesion module, structural analysis, prototyping and testing of the robot is presented in this paper.
|Journal||Human-Centric Robotics: proc. of 20th Internatonal Conference on CLAWAR 2017|
|Publisher||World Scientific Publishing|
|Accepted author manuscript|
File Access Level
|11 Sep 2017|
|Publication process dates|
|Deposited||07 Dec 2017|
|Accepted||26 May 2017|
|Place of publication||Singapore|
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