This report summarizes the design of the MINOAS heavy climbing robot, able to support marking and thickness measure devices and displace them over the ship hold walls, according to technical specifics defined in the MINOAS Project. In particular, a Magnetic Autonomous Robotic Crawler (MARC) with track based locomotion and electrical propulsion has been designed, paying specific attention to the capability of operating on vertical walls, going beyond discontinuities between consecutive surfaces, and carrying a significant payload. This paper reports details about the electro-mechanical design, development of the automatic control systems, integration with the overall MINOAS architecture.
MARC: Magnetic Autonomous Robotic Crawler Development and Exploitation in the MINOAS Project
Marco Bibuli;Gabriele Bruzzone;Giorgio Bruzzone;Massimo Caccia;Mauro Giacopelli;Antonio Petitti;Edoardo Spirandelli
2012
Abstract
This report summarizes the design of the MINOAS heavy climbing robot, able to support marking and thickness measure devices and displace them over the ship hold walls, according to technical specifics defined in the MINOAS Project. In particular, a Magnetic Autonomous Robotic Crawler (MARC) with track based locomotion and electrical propulsion has been designed, paying specific attention to the capability of operating on vertical walls, going beyond discontinuities between consecutive surfaces, and carrying a significant payload. This paper reports details about the electro-mechanical design, development of the automatic control systems, integration with the overall MINOAS architecture.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.