Compact Magnetic Wheeled Robot for Inspecting Complex Shaped Structures in Generator Housings and Similar Environments

被引：9

作者：

Fischer, W. ^{[1
]}

Caprari, G. ^{[1
]}

Siegwart, R. ^{[2
]}

Moser, R. ^{[3
]}

机构：

[1] Swiss Fed Inst Technol, Tannenstr 3,CLA E 18, CH-8092 Zurich, Switzerland

[2] Swiss Fed Inst Technol, Autonomous Syst Lab, Zurich, Switzerland

[3] ALSTOM Power Serv, PSPRI, Saint Ouen, France

来源：

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS | 2009年

关键词：

D O I：

10.1109/IROS.2009.5354690

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

In this paper, we present the mechanical design of a compact magnetic wheeled robot - with the goal to do inspection and vibration measurements in the housings of large generators and similar environments in power plants. After a detailed analysis of the specifications in this application, we present a new vehicle structure that allows for passing sharp concave corners - even with low friction coefficient between wheels and surface - and without using an additional active DOF. The advantages of this structure and the core parameters for its optimization are described in a quasi-static 2D calculation model. A prototype was implemented and successfully tested both in laboratory and real environments. The paper concludes pointing out the future improvements for a final industrial version.

引用

页码：4116 / +

页数：2

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