Wall climbing robot design for remote maintenance
Saarikko, Esko (2026)
Kandidaatintyö
2026
School of Energy Systems, Konetekniikka
Kaikki oikeudet pidätetään.
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi-fe2026042835437
https://urn.fi/URN:NBN:fi-fe2026042835437
Tiivistelmä
The need for remote maintenance within industrial facilities has increased. The conditions these remote maintenance machines must operate in have become varied and demanding (Miripour. 2010). The DEMO fusion reactor is one such example. Within this reactor human are not able to do all the maintenance needed therefore robots will need to be deployed to conduct this remote maintenance. This study investigates what sort of robots are usable withing the DEMO fusion reactor for remote monitoring.
The goal of this study is to design a wall climbing robot with sufficient capabilities to conduct remote maintenance within the vacuum vessel of the DEMO reactor to ensure the safe operation of the reactor. This is done via CAD modelling. Along with a detailed explanation of the design process and decisions. Concluding with FEA analysis of the final design to verify structural stability as well as a fluid simulation to verify the adhesion method. The safety factor for adhesion being 8 for the adhesion force. This study is focused on the mechanical design of such a wall climber and therefore omits electronics. This study will also not consider electrical, and magnetic interfaces as well as radiation concerns that would otherwise apply.
The goal of this study is to design a wall climbing robot with sufficient capabilities to conduct remote maintenance within the vacuum vessel of the DEMO reactor to ensure the safe operation of the reactor. This is done via CAD modelling. Along with a detailed explanation of the design process and decisions. Concluding with FEA analysis of the final design to verify structural stability as well as a fluid simulation to verify the adhesion method. The safety factor for adhesion being 8 for the adhesion force. This study is focused on the mechanical design of such a wall climber and therefore omits electronics. This study will also not consider electrical, and magnetic interfaces as well as radiation concerns that would otherwise apply.