Non-Destructive Testing Robot

This document shows the required format This project aims to design and fabricate a wall-climbing robot that can adhere to and move over vertical ferromagnetic surfaces using permanent neodymium magnets and perform basic inspections using a borescope camera. The robot is wire-controlled using DPDT switches and powered through a 12V SMPS. The system uses four geared DC motors with tracks and a mild steel chassis. It incorporates an IR sensor module for obstacle sensing and a basic relay-based control logic. This robot is developed keeping in mind the applicability in NDT inspection tasks in industries. Initial prototypes were iteratively improved to enhance performance, grip, and load handling. The progress of computer science and mechanical and electrical engineering in the field of robotics has increased the applicability of robots for replacing human resources in the performance of repetitive and dangerous tasks. A lot of today’s work on robots for oil platforms, manufacturing plants and other facilities providing potentially hazardous environments is based on adjusting the traditional industrial robots to operate in fixed coordinate systems. There is a need for enabling robots to move freely on walls and similar structures. One of the major challenges of wall-climbing robots is attaining a secure and reliable grip to the wall. The object of this master’s thesis has been to determine the feasibility and applicability of a wall-climbing robot that adheres to the wall by gripping onto Neodymium Magnets, with a control system enabling an operator to easily lead the robot over a considerable distance. A non-destructive testing robot is designed for use in boilers, ships, etc. The robot employs a magnetic adhesion mechanism in its wheels, enabling it to climb metal walls easily. Its primary function is to carry out inspections in hard-to-reach areas of the boiler, providing a safer and more efficient alternative to human labor. The robot’s mobility is achieved through a wheel-driven system, which is magnetically attached to metal surfaces, allowing it to move vertically and horizontally. The robot operates autonomously, with its control system driven by amicrocontroller and powered by an onboard battery. This system ensures that the robot can traverse the metal surfaces of the boiler for maintenance and inspection purposes.