Foldable magnetic wheeled climbing robot for the inspection of gas turbines and similar environments with very narrow access holes

Industrial Robot

Volumn 37, Issue 3, 2010, Pages 244-249

  Fischer, Wolfgang ^a   Caprari, Gilles ^a   Siegwart, Roland ^a   Thommen, Igor ^b   Zesch, Wolfgang ^b   Moser, Roland ^c  

^a ETH ZURICH   (Switzerland)

^b ALSTOM   (France)

^c ALSTOM SWITZERLAND LTD   (Switzerland)

Author keywords

Boilers; Inspection; Prototypes; Robotics; Turbines

Indexed keywords

BOILER DRUMS; CLIMBING ROBOTS; CURVED SURFACES; DESIGN CHALLENGES; DESIGN/METHODOLOGY/APPROACH; FIELD SERVICES; FOLDING MECHANISM; INDUSTRIAL ENVIRONMENTS; MAGNETIC ADHESION; MAGNETIC WHEELS; NEW APPLICATIONS; PROTOTYPE IMPLEMENTATIONS; PROTOTYPES; SMALL SIZE; STEEL SURFACE; TEST RESULTS; TORQUE TRANSMISSION;

BOILERS; GAS TURBINES; INSPECTION; ROBOTICS; ROBOTS; SOFTWARE PROTOTYPING; TURBOMACHINERY; TWO DIMENSIONAL;

MACHINE DESIGN;

EID: 77951898427     PISSN: 0143991X     EISSN: None     Source Type: Journal    
DOI: 10.1108/01439911011037631     Document Type: Article

References (4)

1. Fischer, W., Caprari, G., Siegwart, R. and Moser, R. (2009), Robotic crawler for inspecting generators with very narrow air gaps, Proceedings of the 5th IEEE International Conference on Mechatronics (ICM), Málaga.
2. Roney, D. and Zawoyski, J. (2003), Generator In-situ Inspections, GE Power Systems GER-3954B-(04/03), GE Power Systems, Schenectady, NY, available at: www. gepower.com/prod-serv/serv-for/generators/en/testing-insp/ndt.htm
3. Suzumori, K., Miyagawa, T., Kimura, M. and Hasegawa, Y. (1999), Micro inspection robot for 1-in pipes, IEEE/ ASME Transactions on Mechatronics, Vol. 4 No. 3, pp. 286-92.
4. Zagler, A. and Pfeiffer, F. MORITZ, a pipe crawler for tube junctions, Proceedings of the IEEE International Conference on Robotics & Automation (ICRA), Taipei.