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Tele-operated propeller-type climbing robot for inspection of petrochemical vessels

Mohamed Gouda Alkalla (Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt and Department of Physics and Applied Physics, Waseda University, Tokyo, Japan)
Mohamed A. Fanni (Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt and Production Engineering and Mechanical Design Department, Faculty of Engineering, Mansoura University, Egypt)
Abdelfatah M. Mohamed (Department of Mechatronics and Robotics Engineering, Egypt-Japan University of Science and Technology, Alexandria, Egypt and Department of Electrical and Electronics Engineering, Assiut University, Egypt)
Shuji Hashimoto (Department of Physics and Applied Physics, Waseda University, Tokyo, Japan)

Industrial Robot

ISSN: 0143-991x

Article publication date: 20 March 2017

930

Abstract

Purpose

The purpose of this paper is to propose a new propeller-type climbing robot called EJBot for climbing various types of structures that include significant obstacles, besides inspection of industrial vessels made of various materials, including non-ferromagnetic material. The inspection includes capturing images for important spots and measuring the wall thickness.

Design/methodology/approach

The design mainly consists of two coaxial upturned propellers mounted on a mobile robot with four standard wheels. A new hybrid actuation system that consists of propeller thrust forces and standard wheel torques is considered as the adhesion system for this climbing robot. This system generates the required adhesion force to support the robot on the climbed surfaces. Dynamic simulation using ADAMS is performed and ensures the success of this idea.

Findings

Experimental tests to check the EJBot’s capabilities of climbing different surfaces, such as smooth, rough, flat and cylindrical surfaces like the real vessel, are successfully carried out. In addition, the robot stops accurately on the climbed surface at any desired location for inspection purposes, and it overcomes significant obstacles up to 40 mm.

Practical implications

This proposed climbing robot is needed for petrochemical and liquid gas vessels, where a regular inspection of the welds and the wall thickness is required. The interaction between the human and these vessels is dangerous and not healthy due to the harmful environment inside these vessels.

Originality/value

This robot utilizes propeller thrusts and wheel torques simultaneously to generate adhesion and traction forces. Therefore, a versatile robot able to climb different kinds of structures is obtained.

Keywords

Acknowledgements

The first author gratefully thanks the Cultural Affairs and Missions Sector, Ministry of Higher Education (MoHE), Egypt for funding him with a full doctorate scholarship. The authors are so grateful to Eng. Omar Ibn El Khatab at E-JUST for his valuable contribution in the experimental work and all the department colleagues.

Citation

Alkalla, M.G., Fanni, M.A., Mohamed, A.M. and Hashimoto, S. (2017), "Tele-operated propeller-type climbing robot for inspection of petrochemical vessels", Industrial Robot, Vol. 44 No. 2, pp. 166-177. https://doi.org/10.1108/IR-07-2016-0182

Publisher

:

Emerald Publishing Limited

Copyright © 2017, Emerald Publishing Limited

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