Development Of A Wall Climbing Robot For Cleaning Crude Oil Storage Tank

Cleaning process for crude oil of above ground storage tanks can be dangerous and time consuming. This paper presents a wall climbing mobile robot with permanent magnetic adhesion mechanism which can be used for cleaning process. The architecture of mechanical system is attended to in detail. Through a static and dynamic analysis, permanent magnetic adhesion mechanism is chosen for the robot. The Neodymium magnet N42 type had been choose. The tracked locomotion mechanism and the track belt installed with magnet are used simultaneously. The robot will use MIT Apps Inventor for control the movement of the robot and the operation of the spinning brush. For the whole system control, Arduino Uno will be used.