Robotica · 2011 · 43 citations · 15 references
Robotic SystemsEngineeringBioroboticsBio-inspired DesignDimensions 96Mechanical EngineeringField RoboticsPlane Transition AbilityMagnetic MaterialsMagnetismSoft RoboticsIndustrial RoboticsBio-inspired RoboticsLegged RobotMagnetic SystemsMechanical DesignMiniature Magnetic CaterpillarWalking RobotsNatural SciencesFrame MagnetsIndustrial InspectionMagnetic DeviceRobotics
The study introduces a miniature magnetic climbing robot, TRIPILLAR, measuring 96 × 46 × 64 mm, aimed at enabling size‑restricted industrial inspections such as in power plants. TRIPILLAR uses triangular magnetic caterpillars coupled with frame magnets to achieve magnetic adhesion and locomotion. The robot demonstrates two‑degree‑of‑freedom locomotion, climbing ferromagnetic surfaces and transitioning between ground, wall, and ceiling planes at any inclination.
SUMMARY We present a miniature magnetic climbing robot with dimensions 96 × 46 × 64 mm 3 . With two degrees of freedom it is able to climb ferromagnetic surfaces and to make inner plane to plane transitions whatever their inclination is. This robot, named TRIPILLAR, combines triangular-shaped magnetic caterpillars and frame magnets. This particular configuration allows, for example, to move from ground to wall and ceiling and back. This achievement opens new avenues to use mobile robotics for industrial inspection with stringent size restrictions, such as the ones encountered in power plants.
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