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英語原文：

Adhesion?Control?for?the?Alicia3?Climbing?Robot

D.?Longo?and?G.?Muscato

Dipartimento?di?Ingegneria?Elettrica?Elettronica?e?dei?Sistemi,?Universit`a?degli

Studi?di?Catania,?viale?A.?Doria?6,?95125?Catania?Italy

Abstract.

Climbing?robots?are?useful?devices?that?can?be?adopted?in?a?variety?of

applications?like?maintenance,?building,?inspection?and?safety?in?the?process?and

construction?industries.

The?main?target?of?the?Alicia3?robot?is?to?inspect?non?porous?vertical?wall?with

any

regard

for

the

material

of

the

wall.

To

meet

this

target,

a

pneumatic-like

adhesion

for

the

system

has

been

selected.

Also

the

system

can

move

over

the

surface?with

a

suitable?velocity?by?means?of?two?DC?motors?and?overcomesome

obstacle?thanks?to?a?special?cup?sealing.

This

adhesion

technology

requires

a

suitable

controller

to

improve

system

reliability.

This

is

because

small

obstacles

passing

under

the

cup

and

wall

irregularitycan?vary?the?value?of?the?internal?pressure?of?the?cup?putting?the?robot

in?some?anomalous?working?conditions.?The?methodologies?used?for?deriving?an

accuratesystem

model

and

controller

will

be

explained

and

some

result

will

be

presented?inthis?work.

1?Introduction

Climbing

robots

can

be

used

to

inspect

vertical

walls

to

search

for

potential

damage?or?problems?on?external?or?internal?surface?of

aboveground/underground

etrochemical?storage?tanks,?concrete?walls?and?metallic?structures[1

–

4].?By?using

this?system?as

carrier,?it?will?be?possible?to?conduct?anumber?of?NDI?over?the?wall

by?carrying?suitable?instrumentation?[5,?6].The?main?application?of?the?proposed

system

is

the

automatic

inspectionof

the

external

surface

of

aboveground

petrochemical

storage

tanks

where

it

is

very

important

to

perform

periodic

inspections?(rate?of?corrosion,?risk?of?air?or?water?pollution)?at?different?rates,?as

standardized

by

the

AmericanPetroleum

Institute

[7].

The

system

can

be

also

adopted?to?inspect?concrete

dams.

While

these

kinds

of

inspections

are

important

to

prevent

ecological

disasters

and

risks

for

the

people

working

around

the

plant,

these

are

very

expensive

because

scaffolding

is

often

required

and

can

be

very

dangerous

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