Design of a climbing robot for inspecting aircraft wings and fuselage
Abstract
Purpose
The paper aims to develop a robot that climbs on non‐ferrous surfaces, e.g. aircraft wings and fuselages, carrying a heavy payload up to 18 kg including scanning arm and various equipments, for non‐destructive testing (NDT).
Design/methodology/approach
This robot in the study uses vacuum suction cups for adhesion, and two pairs of pneumatic cylinders to drive itself, moving in two directions in stepping gait. A rotation mechanism in the centre is used to correct the off‐course deviations by ± 5 degrees. Multiple universal joints are used to make every single suction cup, every robot foot and the whole structure flexible to negotiate with varying surface curvatures presented in different parts of aircraft. This flexible structure is also rigid once the robot is stuck on the surface to enable the NDT inspection being carried out reliably.
Findings
The paper finds that the walking speed is limited by the cylinder stroke, time for generating vacuum and changing legs. Although most NDT inspection is time‐consumable, it is still desirable to increase the robot speed.
Practical implications
The application of this robotic NDT can significantly reduce the cost of aircraft inspection, eliminate labour‐intensive and monotonous inspection tasks and eliminate the need for an operator to work in confined and dangerous spaces.
Originality/value
The paper introduces the structure that combines flexibility and rigidity for a robot climbing on non‐ferrous curvatures.
Keywords
Citation
Shang, J., Sattar, T., Chen, S. and Bridge, B. (2007), "Design of a climbing robot for inspecting aircraft wings and fuselage", Industrial Robot, Vol. 34 No. 6, pp. 495-502. https://doi.org/10.1108/01439910710832093
Publisher
:Emerald Group Publishing Limited
Copyright © 2007, Emerald Group Publishing Limited