OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures
OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures
复制标题
DOI：
10.1016/j.robot.2013.05.005
复制
发表时间：
2013-09
期刊：
影响因子：
--
通讯作者：
M. Tavakoli;C. Viegas;Lino Marques;J. Norberto Pires;A. T. Almeida
中科院分区：
文献类型：
--
作者：
M. Tavakoli;C. Viegas;Lino Marques;J. Norberto Pires;A. T. Almeida
介绍了一种用于铁磁平面和凸形人造结构检测的新型高机动性攀爬机器人Omniclimber。除了可操作性外，还解决了对不同曲率和材料的各种结构的适应性问题。介绍了OmniClimbers的概念设计和详细设计，并介绍了该机器人的两个样机。报告了几次室内和现场试验，并对结果进行了讨论。
This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of OmniClimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed.