A Method for Optimal Design of an Inchworm Climbing Robot

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
Proceedings of the 2012 IEEE International Conference on Robotics and Biomimetics, 2012, pp. 1293 - 1298
Issue Date:
2012-01
Full metadata record
Files in This Item:
Filename Description Size
Thumbnail2012000173OK.pdf2.96 MB
Adobe PDF
Many ferromagnetic structures require regular inspection and maintenance to ensure their longevity, structural integrity and aesthetics. These operations are often very hazardous to workers, as they are normally performed at height or in confined spaces, and can expose workers to hazardous materials such as lead based paints and vehicle fumes. An inchworm climbing robot has been proposed as a solution that would improve the quality of the inspection procedure and the occupational health and safety for the maintenance personnel while reducing setup times and costs. However, a number of challenges in designing such an inchworm robot arise from the environmental, mobility and safety factors. This paper describes these challenges for given design applications and presents a method to optimise the design to address the challenges. Analyses of the results attest to the feasibility of the solution.
Please use this identifier to cite or link to this item: