Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing
Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrat...
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doaj-504813ac495a475dad79969b98b34e2f2020-11-25T03:03:33ZengMDPI AGSensors1424-82202020-08-01204582458210.3390/s20164582Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle TestingXiaojun Zhang0Xuan Zhang1Minglu Zhang2Lingyu Sun3Manhong Li4School of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaSchool of Mechanical Engineering, Hebei University of Technology, Tianjin 300130, ChinaWeld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot’s safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds.https://www.mdpi.com/1424-8220/20/16/4582wall-climbing robotmultiple sensors integrationmagnetic particle testingflexible detection |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Xiaojun Zhang Xuan Zhang Minglu Zhang Lingyu Sun Manhong Li |
spellingShingle |
Xiaojun Zhang Xuan Zhang Minglu Zhang Lingyu Sun Manhong Li Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing Sensors wall-climbing robot multiple sensors integration magnetic particle testing flexible detection |
author_facet |
Xiaojun Zhang Xuan Zhang Minglu Zhang Lingyu Sun Manhong Li |
author_sort |
Xiaojun Zhang |
title |
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing |
title_short |
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing |
title_full |
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing |
title_fullStr |
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing |
title_full_unstemmed |
Optimization Design and Flexible Detection Method of Wall-Climbing Robot System with Multiple Sensors Integration for Magnetic Particle Testing |
title_sort |
optimization design and flexible detection method of wall-climbing robot system with multiple sensors integration for magnetic particle testing |
publisher |
MDPI AG |
series |
Sensors |
issn |
1424-8220 |
publishDate |
2020-08-01 |
description |
Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this paper developed a wall-climbing robot that integrates multiple sensors and uses fluorescent magnetic powder for nondestructive testing. We designed a moving mechanism that can safely move on a curved surface and a serial-parallel hybrid flexible detection mechanism that incorporates a force sensor to solve the robot’s safe adsorption and a flexible detection of the curved surface to complete the flaw detection operation. We optimized the system structure and improved the overall performance of the robot by establishing a unified mechanical model for different operating conditions. Based on the collected sensor information, a multi-degree of freedom component collaborative flexible detection method with a standard detecting process was developed to complete efficient, high-quality detection. Results showed that the developed wall-climbing robot can move safely and steadily on the complex facade and can complete the flaw detection of wall welds. |
topic |
wall-climbing robot multiple sensors integration magnetic particle testing flexible detection |
url |
https://www.mdpi.com/1424-8220/20/16/4582 |
work_keys_str_mv |
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