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At present, numerous wall-climbing robots have been developed, and applied in ship manufacturing for weld detection to ensure safe navigation. Limited by rigid mechanical structure and complex detection, mostly existing robots are hardly to complete weld detection by using fluorescent magnetic particles. Based on permanent magnet adsorption, a wheeled wall-climbing robot is developed to realize the stable adsorption and flexible movement on ship wall. A detection mechanism is designed using a series and parallel flexible adaptation structure to keep cross yokes and detection area close for effective detection. A unified mechanical model is established by analyzing the angle between robot attitude and gravity, to solve safe adsorption and flexible movement for different detection conditions. Integrated the multisensor information and collaboration between control component, an automatic detection control workflow conforms to the standard process is proposed. Experiments show that the robot can move on curvature wall flexibly and stably, complete the weld detection with the standard process, and clearly display the shape and depth of the small defects (groove depth ≥ 30 μm) in standard specimen.
Zhang et al. (Sun,) studied this question.