Foldable magnetic wheeled climbing robot for the inspection of gas turbines and similar environments with very narrow access holes

This paper describes the design and prototype implementation of a miniature climbing robot with magnetic adhesion, developed for the inspection of gas turbines. It can be inserted through an entrance hole of only Ø15mm and then unfolds to a magnetic crawler with 2 traction units and an antenna module for holding the camera. This crawler is able to move on vertical and overhanging ferromagnetic surfaces and to carry a camera for the visual inspection of the turbine blades. After a detailed description of the industrial environment where it is supposed to be used (inspection of gas turbines, housing not opened), we describe the basic mechanical concept and show how we solved the most difficult design challenges – torque transmission at this very small size and design of the folding mechanism. The paper concludes with a prototype implementation and some test results; and provides an outlook on future improvements in a final industrial version.