ON THE DESIGN OF MULTI-TASK, COMPACT, CLIMBING ROBOTIC NDT SYSTEMS FOR REMOTE OPERATION ON LARGE SURFACES AND IN HAZARDOUS ENVIRONMENTS

An analysis is given of the problems associated with the design of multiple purpose Robotic NDT systems which are readily transportable between different geographical locations and are able to climb over large areas of vertical walls and ceilings of any material composition to provide access to remote and hazardous environments. The analysis is illustrated by the description of a prototype system, designed in a modular fashion with off-the-shelf components to minimise development and subsequent batch production costs. Essentially the system consists of a pneumatically powered vehicle carrying an anthropomorphic arm i.e. an arm with at least six degrees of freedom that replicates some relevant advantageous characteristics of the human arm. Its performance is illustrated by some indicative trial results using ultrasonic wet and dry contact techniques applied to a simulated wall of a large ferrous oil storage tank containing corrosion thinning defects.