SURFY: A Low Weight Surfaces Climbing Robot (Design, Control, Assembly and Preliminary Tests)

摘要

SURFY: A Low Weight Surfaces Climbing Robot (Design, Control, Assembly and Preliminary Tests) Guido La Rosa, Michele Messina, Giovanni Muscato Pages 353-358 (1999 Proceedings of the 16th ISARC, Madrid, Spain, ISSN 2413-5844) Abstract: Climbing and Walking Robots can be used to resolve some problems of maintenance, inspection and safety ill industry. The first prototypes already developed have proved able to perform tasks in hostile environments and serve as a work platform for manipulators in inaccessible areas. The inspection of storage tanks is a task that has been standardized by the American Petroleum Institute, with the API Standard 653. This paper describes the design and the construction of a prototype climbing robot and reports the results of various motion trials performed on walls of different inclinations and of different materials to verify the correct functioning of the movement and of the adhesion system used. Keywords: Climbing Robot; NDT Controls; Fuzzy Logic; Pneumatic systems; Industrial Inspections DOI: https://doi.org/10.22260/ISARC1999/0054 Download fulltext Download BibTex Download Endnote (RIS) TeX Import to Mendeley