Omnidirectional Climbing Robot for Maintenance Services on Hard to Reach Places of Ship Hulls
摘要
This study explores the development of a climbing robot for offshore applications with a focus on mitigating human risk exposure (HRE) and Environmental, Social, and Governance (ESG) metrics. Heavy tools are required during maintenance work, thus technical challenges related to surface adaptation, adhesion, locomotion, powertrain and control systems are accomplished. The proposed climbing robot is subjected to a field test and its overall performance proves the potential to improve safety, efficiency and environmental sustainability.