CROMSCI: development of a climbing robot with negative pressure adhesion for inspections

摘要

The non-destructive inspection of large concrete walls with autonomous systems is still an unsolved problem. One of the main difficulties is to develop a very flexible platform, which is able to move and inspect horizontal and vertical surfaces safely, fast and cost-efficient. This report will present the climbing robot Cromsci which is designed for the described task. The propulsion system consists of three omnidirectional driven wheels which are airproof and completely rotatable for a maximum of maneuverability. To detect critical situations each wheel is equipped with a load cell which can measure occuring forces and torques and allow force-balancing. The adhesion is done by a vacuum system of seven controllable vacuum chambers and one large reservoir chamber. Pressure sensors and valves are integrated for controlling which allows fast reaction on changing conditions. The rough and sharp-edged surface of concrete walls causes strong requirements concerning leak tightness and attrition to the sealing between vacuum chambers and walls. Therefore, each sealing must be flexible to allow a good adaption to the ground but also let the robot slip when it is moving.