As an effort of automating the bridge inspection process, this paper presents a new development of an adaptable tank-like robot, which can climb on steel structures to collect data and perform inspection. While most current steel climbing mobile robots are designed to work on flat steel surface, our proposed tank-like robot design is capable of climbing on different steel structural shapes (e.g., cylinder, cube) by using reciprocating mechanism and magnetic roller-chains. The developed robot can pass through the joints and transition from one surface to the other (e.g., from flat to curving surfaces). A prototype robot integrating multiple sensors (hall-effects, IR, IMU, Eddy current and cameras), has been developed by coping with variety of strict concerns including tight dimension, effective adhesive and climbing adaptation. Rigorous analysis of robot kinematics, adhesive force, sliding and turn-over failure and motor power has been conducted to certify the stability of the proposed design. The theory calculations can serve as an useful framework for designing future steel climbing robots. The cameras and Eddy current sensor is integrated on Robot for visual and in-depth fatigue crack inspection of steel structures. Experimental results and field deployments on more than twenty steel bridges confirm the adhesive, climbing, inspection capability of the robot. Video of this deployment can be seen in this link: https://youtu.be/1Wl9Trd3EoM.

作为桥梁检查过程自动化的努力，本文提出了一种适应性强的罐状机器人的新发展，该机器人可以爬上钢结构收集数据并进行检查。虽然目前大多数钢制攀爬移动机器人设计为在平坦的钢表面上工作，但我们提出的类似坦克的机器人设计能够通过使用往复机构和磁性滚子链在不同的钢结构形状（例如圆柱体、立方体）上攀爬。开发的机器人可以穿过关节并从一个表面过渡到另一个表面（例如，从平面到曲面）。集成多个传感器（霍尔效应、IR、IMU、涡流和相机）的原型机器人已经开发出来，以应对各种严格的问题，包括尺寸小、有效的粘附和攀爬适应性。对机器人运动学、粘附力、滑动和翻转故障以及电机功率进行了严格的分析，以证明所提出设计的稳定性。理论计算可以作为设计未来钢制攀爬机器人的有用框架。摄像头和涡流传感器集成在 Robot 上，用于对钢结构进行视觉和深入的疲劳裂纹检测。在二十多座钢桥上的实验结果和现场部署证实了机器人的粘附、攀爬、检查能力。可以在此链接中查看此部署的视频：https://youtu.be/1Wl9Trd3EoM。理论计算可以作为设计未来钢制攀爬机器人的有用框架。摄像头和涡流传感器集成在 Robot 上，用于对钢结构进行视觉和深入的疲劳裂纹检测。在二十多座钢桥上的实验结果和现场部署证实了机器人的粘附、攀爬、检查能力。可以在此链接中查看此部署的视频：https://youtu.be/1Wl9Trd3EoM。理论计算可以作为设计未来钢制攀爬机器人的有用框架。摄像头和涡流传感器集成在 Robot 上，用于对钢结构进行视觉和深入的疲劳裂纹检测。在二十多座钢桥上的实验结果和现场部署证实了机器人的粘附、攀爬、检查能力。可以在此链接中查看此部署的视频：https://youtu.be/1Wl9Trd3EoM。