OmniClimbers: Omni-directional magnetic wheeled climbing robots for inspection of ferromagnetic structures

摘要

This paper introduces Omniclimber, a new climbing robot with high maneuverability for inspection of ferromagnetic flat and convex human made structures. In addition to maneuverability, adaptability to various structures with different curvatures and materials are addressed. The conceptual and detailed design of OmniClimbers are presented and two prototypes of the robot are introduced. Several laboratory and field tests are reported, and the results are discussed.