부산대학교 도서관

Climbing robots are used in many various tasks such as inspection, survey, and even some specific special tasks. The engineering design of the robot for automatic inspection of welding connection makes not only scientific but practical sense. To resolve this task, the robot must firmly and freely move alongside a metal surface and follow exactly the weld in real time to identify the defects. It means the dynamic design should provide the sliding and the turnover avoidance for the robot. But on the other side under the magnetic force and the weight, the friction force will cause the bilateral influence on the locomotion of the robot. The quality of the identification depends on the dynamic stability and the tracking ability of the robot car. The aim of this work is to design the robot car, which is enabled stably moving and tracking alongside the welding seam, mostly on ship hull for ultrasonic inspection.