Cy-mag3D: a simple and miniature climbing robot with advance mobility in ferromagnetic environment

Purpose - The purpose of this paper is to present a novel miniature magnetic climbing robot for industrial inspection. The robot has high mobility with low complexity.Design methodology approach - The robot has a miniature cylindrical shape with 28 mm of diameter and 62 mm of width. The robot has two wheels. The adhesion is achieved with an advanced magnetic circuit fixed on the frame of the robot.Findings - From an horizontal sheet, the robot can make transition to almost any intersecting sheet from 10 to 360°. The robot passes inner and outer straight corners in almost any inclination of the gravity.Originality value - The novel robot opens new possibilities to use mobile robots in ferromagnetic environments with stringent size limitations, as found in power plants. The new mechanism increases mobility and opens a new avenue for inspection robotics. A patent is pending on this system.