000165377 001__ 165377
000165377 005__ 20190509132400.0
000165377 0247_ $$2doi$$a10.5075/epfl-thesis-5051
000165377 02470 $$2urn$$aurn:nbn:ch:bel-epfl-thesis5051-7
000165377 02471 $$2nebis$$a6408173
000165377 037__ $$aTHESIS
000165377 041__ $$aeng
000165377 088__ $$a5051
000165377 245__ $$aMiniature Magnetic Climbing Inspection Robots
000165377 269__ $$a2011
000165377 260__ $$bEPFL$$c2011$$aLausanne
000165377 300__ $$a132
000165377 336__ $$aTheses
000165377 520__ $$aIndustrial plants have an abundance of complex and  confined areas that require systematic inspection.  Maintenance work is necessary to ensure reliability and  safety. In many cases, due to either size limitations or high  danger, access is impossible to humans. Current inspections  require long and costly dismounting or safety procedures.  Robotic inspection could be a convenient solution to overcome  the lack of accessibility and safety for human inspectors. In  the energy industry for instance, where downtime can cost  millions of dollars per day, dedicated and agile robots may  pursue inspection faster than humans, thus reducing the  duration of overhaul. Additionally, robotic inspection may  offer higher repeatability and reliability compared to human  inspection. Distraction or simply boredom caused by  repetitive tasks may result in an incomplete or failed  inspection. Moreover, social costs and the hardness of  working in an unfriendly or even toxic environment may be  reduced. This work focuses on adhesion analysis, integration and  mobility extension of miniature climbing robots for  industrial applications. Existing solutions were carefully  analysed in order to propose an innovative technology and  methodology to be used in the design and implementation of  these robots. The main objective was to increase the  availability, capability and use of mobile robots for  inspection in complex industrial environments. Due to the  reduced dimensions of the industrial areas to be inspected,  in some cases less than 25 mm, miniaturisation of the  robot was required, as well as high mobility in 3D  complex environments. Climbing ability is enhanced by  improving adhesion techniques and their synergy with  locomotion. Ferromagnetic environments are common in industrial  facilities. Since magnetic adhesion is superior to other  methods, a major effort of this work has been devoted to  methodically understand and improve the use of permanent  magnets as adhesion and magnetization devices integrated into  miniature climbing inspection robots. Implementation of the  magnetic adhesion was achieved in different magnetic climbing  robots with locomotion principles such as wheels,  caterpillars or feet. An innovative obstacle passing  mechanism was proposed with the Cy-mag3D  robots family. A proposed approach is the use of a  Magnetic Switchable Device (MSD) as an adhesive and  magnetizing device for inspection robots. Results show that  the energy efficiency of MSDs is higher when compared  to the vertical mechanical detachment of a system with  permanent magnets or an electromagnetic system. MSDs have  been used in TUBULO, an inchworm for visual inspection  of boiler tubes of 25 mm in diameter, and  TREMO, a climbing inchworm for visual inspection of  complex ferromagnetic environments. A novel MSD  configuration was proved adequate to perform Magnetic  Particle Inspection (MPI). This work proposes novel solutions to realise miniature  magnetic climbing robots dedicated to inspection. The proven  results go beyond the anterior state of the art. Accordingly,  inspection robots may move with versatility in industrial  environments. The outcome of this work opens new perspectives  for the use of mobile climbing robots with direct application  in industrial inspection.
000165377 6531_ $$aclimbing robot
000165377 6531_ $$aadhesion
000165377 6531_ $$amagnetic adhesion
000165377 6531_ $$ainspection robotics
000165377 6531_ $$amobile robotics
000165377 6531_ $$arobot grimpant
000165377 6531_ $$aadhésion
000165377 6531_ $$aadhésion magnétique
000165377 6531_ $$arobotique d'inspection
000165377 6531_ $$arobotique mobile
000165377 700__ $$0242145$$g154775$$aRochat, Frédéric
000165377 720_2 $$aMondada, Francesco$$edir.$$g102717$$0240589
000165377 8564_ $$uhttps://infoscience.epfl.ch/record/165377/files/EPFL_TH5051.pdf$$zTexte intégral / Full text$$s30352634$$yTexte intégral / Full text
000165377 909C0 $$0252016$$pLSRO
000165377 909CO $$pSTI$$pthesis$$pthesis-bn2018$$pDOI$$ooai:infoscience.tind.io:165377$$qDOI2$$qGLOBAL_SET
000165377 918__ $$dEDPR$$cIMT$$aSTI
000165377 919__ $$aLSRO1
000165377 920__ $$b2011
000165377 970__ $$a5051/THESES
000165377 973__ $$sPUBLISHED$$aEPFL
000165377 980__ $$aTHESIS