wall climbing robot - magnetic adhesion and negative adsorption-combined

8/13/2019 wall climbing robot - magnetic adhesion and negative adsorption-combined

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PROPOSAL FOR STUDENT INNOVATIVE

PROJECTSTITLE :

AN ALL TERRAIN,NEGATIVE PRESSURE CUM

MAGNETIC ADSORPTION WALL CLIMBING

ROBOT FOR INSPECTION AND CRACKDETECTION

BY,

R.JA I KARTHIK 2011507025

A .GERAD AMBROSE 2011507016

G.VENKATAKRISHNAN 2011507054


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UNDER THE GUIDANCE OF

Dr.R.Sivaramakris hnanAssociate Professo r,

Department of

ProductionTechnology,

Anna University,

MIT Campus.

Mr.M.Thirumalazhagan

Assistant Professor,

Department of

Production Technology,Anna University,

MIT Campus.


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OBJECTIVE OF THE

PROJECT : The traversing and

inspection of large vertical

and over-head surfaces

with autonomous systems

is still an unsolved

problem.

In this project, we aim to

achieve a prototype of a

wall-climbing robot which

works on the principles of

negative pressureadsorption and magnetic

adhesion.


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Why this project ???

As the main principles for this wall-climbing robotcomprise of magnetic adso rpt ionand under-pressure adhesion, concepts like ROBOTICSand PNEUMATICS, which are some of ourdepartments many areas of expertise, are

covered. Also, if fortunately, this project gets selected and

progresses smoothly till stage II, then we alsohave an option of using this robot for inspection,again where NON-DESTRUCTIVE-TESTING

TECHNIQUES : another important part in ourdepartments curriculum, will be covered.

Also, the areas of application of this particularproject, of which BOILER INSPECTION plays amajor part, are also very much related to ourdepartment.


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Scenario so far

WHY DO WE NEED CLIMBING ROBOTS??

Climbing robots are mainly adopted in places wheredirect access by a human operator is very expensive,because of the need for scaffolding, or if its very

dangerous, due to the presence of an hostileenvironment.

WHAT DO WE EXPECT FROM THESE ROBOTS??

These robots should be capable of travelling overdifferent types of surfaces, with different inclinations,such as floors, walls, ceilings, and to walk betweensuch surfaces.

Regarding the adhesion to the surface, the robotsshould be able to produce a secure gripping forceusing a light-weightmechanism.


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A wall climbing robot should, not only be light, but also havelarge payload, so that it may reduce excessive adhesionforces and carry instrumentations during navigation.

Up to now a lot of research has been devoted to wall-

climbing robots and various types of experimental modelswere already proposed.

The major two issues in the design of wall climbing robots istheir locomotion and adhesion methods.

With respect to the locomotion type, three types are oftenconsidered :

Crawler typeWheeled type

Legged type

According to the adhesion method, these robots aregenerally classified into three groups :

Magnetic adhesionNegative pressure adhesion

Gripping mechanism using claws or spikes

Electro-adhesive mechanism


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Electro-adhesion is still a technology that hasnot really been understood and is still at thefirst stage of development. Prototypes of

robots incorporating this principle exist, e.g.Daltorio2005 (sticky robot), Rochat2011(Thermal glue robot), but have not made itbig in the market due to the high costinvolved and maintenance issues.

In case of clamping and grippingmechanism-based robots, the surfacestructure is very critical. These robots, e.g.Spenko2008, BretI2004, etc. depend heavilyon the nature of the surface. There is alwaysa very high risk involved here as theprobability of the robot falling off from the

wall-surface is very high.


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Thermal gluerobot [Rochat2011]

Sticky robot

[Daltorio2005]


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Robot rise[Spenko200

8]

Ape-like lemur

[Bretl2004]


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The Current Scenario

Thus, there is a huge demand for a wall-climbingrobot which is:

1. Light

2. Fast3. Robust enough to carry payloads

4. Able to traverse inclinations and multi-terrains.

5. In case of boilers, we should be able to carry outthe inspection during the run-time itself.

So, this is where our project comes into picture.

In this project, we aim to create such a robot thatcan meet the above pre-requisites.


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Possible applications of thisrobot are inspection ofexternal/internal surface ofaboveground/underground

petrochemical storage tanks,boilers, concrete walls,metallic structures and so on.

In petrochemical storagetanks, due to the extremelycorrosive petroleum that thetanks may contain, it is veryimportant to perform periodicinspection at different rates

In boilers, regular inspectionis an important factor here to

ensure the safety andreliability of these structuresthroughout the year. Anynonchalance can lead to lossof life in huge numbers.


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Also with theimplementation ofthe Metro Rail

system in Chennai(CMRL) in the nearfuture, these robotscan also be used to

traverse the longconcrete pillarssupporting the over-head rail lines andinspect them for

cracks, etc. as that isa very critical areawhose safety cannotbe compromised.


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PRINCIPLE(S):

This robot works on the basis of two main principles/theories :

MAGNETIC ADHESION

UNDER-PRESSURE ADSORPTION

MAGNETIC ADHESION technique includeselectromagnets as well as permanent magnets, whichare either positioned on the surface or kept with acertain distance away from it. Common applications of

these systems are inspections, maintenance andconstruction work e. g. of high power poles, steeltanks, boilers or ship hulls. The principle is veryreliable on ferromagnetic surfaces and it is able tocreate strong adhesion forces on a very small area.


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NEGATIVE PRESSUREADSORPTION techniquecan be distinguished

between three differenttypes: Passive suctioncups, active suctionchambers and a vortex

system. The vortex system

generates adhesiveforces via a vortex insideof the robot. This vortexis created by a high-speed rotor and allowsadhesion withoutadditional sealing

elements as needed bythe cu -based s stems.


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HOW THE ROBOT WORKS :

The robot will look like any another all-terrain robot. The robot will have magnetic tracks around its

wheels, which will enable it to traverse acrossferromagnetic surfaces.

The tracks will wind around the wheels like a loop

and help them to adhere onto the surface below. Thus, by using those tracks, we incorporate the

concept of MAGNETIC ADHESION.

We then include the principle of NEGATIVEPRESSURE ADSORPTION by fashioning a vacuumengine out of a fan rotating at a high speed, fixed atthe centre of the robot in an enclosure.

The CENTRIFUGE fan, which is actuated by anexternal motor, rotates at a very high speed andcreates a VORTEX in the gap between it and thesurface below.


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This vortex will cause asuction-effect (low pressurearea) thereby creating avacuum-region and enablingthe robot to stick to the terrain.

The wheels on the sides of therobot will help in thelocomotion of the robot.

While traversing onferromagnetic surfaces, usageof the vacuum engine is notnecessary, as the magnetic

tracks by themselves willenable adhesion.

The wheels will rotate by thehelp of motors fixed on thebase of the robot.

Thus, this is a WHEELED-DRIVE, MAGNETICADHESION, NEGATIVEPRESSURE ADSORPTIONbased climbing robot.


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APLLICATIONS

Our robot can traverse vertically ,horizontally aswell as overhead surfaces making it ideal for usein inspection of

1. Boilers

2. Pipe inspection in chemical systems3. Ship cleaning/inspection (in dry dock)

4. Airplane cleaning and inspection

5. Nuclear plant inspection

6. Steel bridge inspection

7. Cleaning and inspection of glass wall


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STANDOUT PROPERTIES

So what will make this robot to stand out from its earlier counter-parts?

This robot, for starters, is a HYBRIDbecause we incorporate both the

concepts of magnetic adhesion and vortex mechanism.

This model will be less bulky, and hence, fast.

Compared to normal suction cups, let them be active or passive, this is a better

option because :

I. It uses vortex mechanism, so no need of a bulky vacuum pump

II. No need for any sealing mechanism, only some amount of clearance is

enough

III. As theres no pump on-board, the pay-load carrying capacity of the robot

increases.

IV. The absence of vacuum pump ensures elimination of excessive powerconsumption and hence ENERGY CONSERVATION

V. Simple structure ensures that it is cheaper, lighter, fasterand more

effective.

There are only a very few robots out in the industry that incorporate vortex

mechanism for adhesion, and even less which use the combination of two

adhesion techniques. Further more, in our country, this concept so far is almost new. Thus there is


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FUTURE SCOPE

If this project succeeds in itsmain objective, i.e. wall-climbing, then in the next stageof the project, we canimplement NON-DESTRUCTIVE TESTING

techniques and tailor the robotso that it detects cracks, andother surface defects.

Sensors can be fitted on therobot so that it senses anypossible cracks on the terrainand relays its coordinates tothe controller below.

If possible, we can also attemptto make the whole robotwireless and mount the batterytoo on it.


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DURATION OF THE

PROJECTACTIONDURATION

Literature Survey -3 weeks

Development of robot prototype -3 weeks

Incorporation of under pressureadhesion and magnetic adsorption -4

weeks

Development of non-destructive

technique to be employed -

4weeks Fabrication -6 weeks

Testing -4 weeks


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COSTS :

ITEMS COST(IN RUPEES)

1) MATERIALS/ COMPONENTS/ FABRICATION

a) Design and fabrication of mechanical

componentsb) Electrical components and accessories

c) Vehicle prototype and accessories

9250

92502500

TRAVEL 1000

CONTINGENCIES 2500

TOTAL 24500


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CONCLUSION :

A real-time prototype of an all-terrain,negative pressure cum magnetic

adsorption based robot for navigation over

horizontal, vertical and overhead surfaces

irrespective of their materialistic nature andalso for surface-inspection will be delivered

at the end of the stipulated time.


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wall climbing robot - magnetic adhesion and negative adsorption-combined

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