TY  - JOUR
AB  - The system proposed in this paper is the Alicia3 robot, which is based on the Alicia II module. Its aim is to inspect non‐porous vertical walls like those of aboveground petrochemical tanks, with a wide range of surface materials and cleanliness levels. To meet this aim, pneumatic‐like adhesion has been selected for the system. The system is also required to move over the surface at a suitable speed, to pass over obstacles and to have a suitable payload to carry mission‐specific instrumentation. The robot design mainly aimed at finding a solution with a high degree of modularity, so that it can easily be disassembled for maintenance purposes and to replace consumable parts such as the wheels and the sealing, making its design easier. Some onboard control algorithms have also been introduced to increase system reliability and reduce energy consumption.
VL  - 31
IS  - 2
SN  - 0143-991X
DO  - 10.1108/01439910410522838
UR  - https://doi.org/10.1108/01439910410522838
AU  - Longo Domenico
AU  - Muscato Giovanni
PY  - 2004
Y1  - 2004/01/01
TI  - A modular approach for the design of the Alicia3 climbing robot for industrial inspection
T2  - Industrial Robot: An International Journal
PB  - Emerald Group Publishing Limited
SP  - 148
EP  - 158
Y2  - 2024/04/26
ER  -