A New Type of Inspection Instrument: Climbing Robotic Non-Destructive Testing System

摘要

Design and an analysis is presented of the general problems with the development of a new type of inspection instrument: a climbing robotic non-destructive testing (NDT) system which is readily transportable between different geographical locations and is able to climb over large areas of vertical walls of any material composition, particularly in remote and hazardous environments. The new system consists of a pneumatically powered or permanent magnet geared climbing vehicle carrying an anthropomorphic scanning arm to deploy sensors or transducers. The requirements for the system and sub-units embracing a climbing vehicle, an anthropomorphic arm and ultrasonic detection are identified. Integration of suitable NDT techniques with scanning arms and climbing vehicles is discussed. Main design issues are addressed including a modular design approach and special component design. Three developed prototypes are described demonstrating the initial design points.