Omni-directional magnetic wheeled climbing robot for inspection of ferromagnetic structures.

OmniClimber is a 4-DOF robot composed of 3 rotational actuators and 3 omnidirectional wheels placed at 120°. It also includes an arm for passing between perpendicular planes. Its central permanent magnet provides adhesion to the climbing surface, while its side magnets and flexible chassis enable curvature adaptation. The 3 magnetic omniwheels allow omnidirectional movement.

People involved:
  • Mahmoud Tavakoli
  • Carlos Viegas
  • Lino Marques
  • J Norberto Pires
  • AníBal T De Almeida