{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,24]],"date-time":"2025-10-24T12:59:35Z","timestamp":1761310775507,"version":"3.41.2"},"reference-count":8,"publisher":"Emerald","issue":"3","license":[{"start":{"date-parts":[[2012,4,27]],"date-time":"2012-04-27T00:00:00Z","timestamp":1335484800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2012,4,27]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to describe the design and prototype implementation of a compact climbing robot with magnetic adhesion, which is only 8\u2009mm high and allows for moving in any direction on the stators or rotors of power generators.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>After a brief description of the industrial environment where it is supposed to be used (inspection of generator stators with the rotor still installed), this paper describes the basic mechanical concept, pointing to the core innovation and the advantages towards previous designs. The paper concludes with a prototype implementation and some test results; and provides an outlook on future extensions in the final industrial version.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Thanks to a new locomotion system based on flexible magnetic rollers (= magnetic wheels fixed on motorized flexible shafts; patented technology), the robot is able to span over gaps and non\u2010magnetic zones, both in axial and circumferential direction, while still being flexible enough for adapting to the large curvature of the rotor\/stator (\u223c0.5\u2009m\u20102\u2009m).<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>With this new design, it is now possible, for the first time, to access all types of large power generators (&gt;100\u2009MW) with only one device \u2013 while still keeping the mechanical complexity at a level which allows for realizing the robot in a robust way and at reasonable cost.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439911211217053","type":"journal-article","created":{"date-parts":[[2012,4,28]],"date-time":"2012-04-28T07:19:04Z","timestamp":1335597544000},"page":"236-241","source":"Crossref","is-referenced-by-count":9,"title":["Compact climbing robot rolling on flexible magnetic rollers, for generator inspection with the rotor still installed"],"prefix":"10.1108","volume":"39","author":[{"given":"Wolfgang","family":"Fischer","sequence":"first","affiliation":[]},{"given":"Gilles","family":"Caprari","sequence":"additional","affiliation":[]},{"given":"Roland","family":"Siegwart","sequence":"additional","affiliation":[]},{"given":"Roland","family":"Moser","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022031020335666300_b1","doi-asserted-by":"crossref","unstructured":"Fischer, W., Caprari, G., Siegwart, R. and Moser, R. (2009), \u201cRobotic crawler for inspecting generators with very narrow air gaps\u201d, Proceedings of the IEEE\u2010IES International Conference on Mechatronics (ICM), Malaga, Spain.","DOI":"10.1109\/ICMECH.2009.4957165"},{"key":"key2022031020335666300_b3","doi-asserted-by":"crossref","unstructured":"Fischer, W., Caprari, G., Siegwart, R. and Moser, R. (2011a), \u201cLocomotion system for a mobile robot on magnetic wheels with both axial and circumferential mobility and with only an 8\u2010mm height for generator inspection with the rotor still installed\u201d, IEEE Trans. on Industrial Electronics, Vol. 58 No. 12, pp. 5296\u2010303.","DOI":"10.1109\/TIE.2010.2051396"},{"key":"key2022031020335666300_b2","doi-asserted-by":"crossref","unstructured":"Fischer, W., Caprari, G., Siegwart, R., Thommen, I., Zesch, W. and Moser, R. (2011b), \u201cFoldable magnetic wheeled climbing robot for the inspection of gas turbines and similar environments with very narrow access holes\u201d, Industrial Robot, Vol. 37 No. 3, pp. 244\u20109.","DOI":"10.1108\/01439911011037631"},{"key":"key2022031020335666300_b4","doi-asserted-by":"crossref","unstructured":"Moser, R. and Mark, B. (2007), \u201cAutomated robotic inspection of large generator stators\u201d, Proceedings of the IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, ETH Zurich, Switzerland, September 4\u20107.","DOI":"10.1109\/AIM.2007.4412576"},{"key":"key2022031020335666300_b5","unstructured":"Moser, R., Hugi, N., Bernhard, M., Isler, P. and Honold, S. (2008), \u201cVorrichtung zur Inspektion eines Spaltes\u201d, Patent EP 2 110 678 A1, Alstom Technology Ltd, Baden, April 14."},{"key":"key2022031020335666300_b6","unstructured":"Roney, D.T. and Zawoyski, R.J. (2003), \u201cGenerator in\u2010situ inspections\u201d, GE Reference Document GER\u2010395413, GE Power Systems, Schenectady, NY."},{"key":"key2022031020335666300_b7","unstructured":"Schoeler, D. and Miranda, O.P. (2003), \u201cImproved unit reliability & availability through optimised predictive maintenance\u201d, Siemens AG, Power Generation, Germany."},{"key":"key2022031020335666300_frd1","unstructured":"Wiesendanger, M. and Fischer, W. (2010), \u201cDevice for inspection of generator air gaps\u201d, Patent US 61\/296,199, ALSTOM Technology Ltd, Baden, January 19."}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439911211217053","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911211217053\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439911211217053\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:54Z","timestamp":1753401054000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/39\/3\/236-241\/180075"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,4,27]]},"references-count":8,"journal-issue":{"issue":"3","published-print":{"date-parts":[[2012,4,27]]}},"alternative-id":["10.1108\/01439911211217053"],"URL":"https:\/\/doi.org\/10.1108\/01439911211217053","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2012,4,27]]}}}