• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.92.1-92
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• 2002

$\textbullet$ A compact and robust wall-climbing robot, called MRWALLSPECT-II, is developed. $\textbullet$ The robot is a self-contained system for scanning external surfaces of gas or oil tank. $\textbullet$ The robot has advantages of reduced actuators, parts and easy control. $\textbullet$ The mechanism of the robot employs a closed link mechanism. $\textbullet$ Self-Contained, Wall-Climbing, MRWALLSPECT

• Journal of Mechanical Science and Technology
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• v.18 no.4
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• pp.573-581
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• 2004

A self-contained wall climbing robot, called MRWALLSPECT (Multi-functional Robot for WALL inSPECTion) II, is developed. It is designed for scanning external surfaces of gas or oil tanks with small curvature in order to find defects. The robot contains all the components for navigation in itself without any external tether cable. Although it takes the basic structure of the sliding body mechanism, the robot has its original characteristic features in the kinematic design with closed link mechanism, which is enabled by adopting a simple and robust gait pattern mimicking a biological system. By employing the proposed link mechanism, the number of actuators is reduced and high force-to-weight ratio is achieved. This paper describes its mechanism design and the overall features including hardware and software components. Also, the preliminary results of experiments are given for evaluating its performances.