NuBot: A Magnetic Adhesion Robot with Passive Suspension to Inspect the Steel Lining

Chinese Journal of Mechanical Engineering

Table 1 Qualitative comparison of different types of climbing robots.

Adhesion	Example	Locomotion mechanism	Wall type	Adhesion force	Velocity	Payload	Terrain-adaptable	Wall-harmless	Build-in power
Magnetic	NuBot (ours)	Wheel	Steel	√	√	√	○	√	√
	Magnetic crawler [3]	Track		√	○	√	○	○	√
	HIT robot [11]	Leg		√	×	○	√	√	×
Pneumatic	MultiTrack [14]	Track	Smooth surface	√	√	√	○	○	×
Pneumatic	W-Climbot [4]	Leg	Smooth surface	√	×	○	√	√	×
Mechanical	SpinyBot II [15]	Leg	Rough surface	×	×	×	×	×	√
Mechanical	CSU robot [17]	Wheel	Rough surface	×	√	×	○	×	√
Electrostatic	SJTU robot [19]	Leg	Flat surface	√	○	√	○	○	×
Gecko-like		Wheel-leg	Smooth surface	○	○	○	√	√	√