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In order to fulfil all-position amending of weld seam with wall-climbing robot, a permanent magnet adsorbed repairing end effector (REE) is developed. Cutting tool is installed in atwo-dimensional (2D) cutting force mode to decrease the driving force ofthemanipulator. A permanent magnet adsorption supporting apparatus (PMASA) is specially designed, so as to achieve reliable adsorption and flexible movement on complex curved surface. Both lifting and rotatingofthecutting tool are realized separately. The end effector is Φ274 mm×240 mm in sizeand less than 10 kg in weight. Integrated withawall-climbing robot, the REEcouldperform all-position repairing works on the complex curved surface of steel structures, whose curvature radius is above 1.5 m. Keywords-end effector; wall-climbing robot; all-position operation; magnetic adsorption; complex curved surface

Permanent Magnet Absorbed Repairing End Effector for Wall-climbing Robot