Development of a hull-plate moving robot with permanent magnets

영구자석을 이용한 선체 외판 주행 로봇 개발

During the ship's construction process, most high place workings have been carried out by human power, like welding, grinding and so on. Because of the ability to relieve human beings from these, the need of developing a hull-plate moving robot has been rising. This paper describes a hull-plate moving robot, using magnet modules as the adhesive method. Magnet modules maintain the magnetic force between hull-plate and magnets constantly. So that allows the robot to perform movements on the curved plate without the loss of adhesive force. The robot consists of driving motors, control system and magnet modules. The performance of the robot is verified on the curved plate.