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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Main Authors: Xiaojun Zhang, Xuan Zhang, Minglu Zhang, Lingyu Sun, Manhong Li
Format: Article
Language:English
Published: MDPI AG 2020-08-01
Series:Sensors
Subjects:
Online Access:https://www.mdpi.com/1424-8220/20/16/4582
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spelling 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
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AT xuanzhang optimizationdesignandflexibledetectionmethodofwallclimbingrobotsystemwithmultiplesensorsintegrationformagneticparticletesting
AT mingluzhang optimizationdesignandflexibledetectionmethodofwallclimbingrobotsystemwithmultiplesensorsintegrationformagneticparticletesting
AT lingyusun optimizationdesignandflexibledetectionmethodofwallclimbingrobotsystemwithmultiplesensorsintegrationformagneticparticletesting
AT manhongli optimizationdesignandflexibledetectionmethodofwallclimbingrobotsystemwithmultiplesensorsintegrationformagneticparticletesting
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