Paper Info
Title
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing.
Abstract
Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot's safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds.
Year
DOI
Venue
2020
10.3390/s20164582
SENSORS
Keywords
DocType
Volume
wall-climbing robot,multiple sensors integration,magnetic particle testing,flexible detection
Journal
20
Issue
ISSN
Citations 
16
1424-8220
0
PageRank 
References 
Authors
0.34
0
5
Name
Order
Citations
PageRank
Xiaojun Zhang100.68
Xuan Zhang200.68
Minglu Zhang32715.35
Lingyu Sun4166.09
Manhong Li512.05