Design of a Climbing Robot for Inspecting Aircraft Wings and Fuselage

Conference paper

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. 552-557
AuthorsShang, J, Sattar, TP and Leon-Rodriguez, HE
TypeConference paper
Abstract

This paper focuses on the design of a wall climbing
robot. The robot carries a Cartesian scanning arm and a payload
of various non-destructive testing (NDT) sensors while walking on the topside and downside of wings and on varying surface
curvatures presented by the fuselage of different types of aircraft. The robot uses pneumatic cylinders to actuate the robots motion in X and Y directions. It uses suction cups to adhere the robot to the surface. The main achievement of this robot is the capability to cope with varying surface curvature when climbing around the aircraft while carrying a payload of up to 18kg. The robot achieves this capability with sufficient flexibility in its structure, feet and suctions cups to cope with varying surface curvature while remaining rigid once the robot feet adhere to the surface. Robot rigidity ensures a stable climbing motion and the vibration free deployment of the NDT sensors.

Year2006
JournalProceedings of the 9th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines
Accepted author manuscript
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Publication dates
Print12 Sep 2006
Publication process dates
Deposited04 Jan 2019
Accepted12 Sep 2006
Page range552-557
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https://openresearch.lsbu.ac.uk/item/87qx0

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Accepted author manuscript
62. CLAWAR 2006-Design of a climbing robot.pdf
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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