Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins

Product oil tankers are essential transportation equipment for petroleum transfer. Due to products’ intense penetration and solubility, the quality requirements coating product high, regular maintenance is needed. Currently, this relies on manual labor, which involves working in enclosed spaces with harsh conditions, high labor intensity, long time periods, unstable quality. We proposed a lightweight, rigid–flexible robotic system using cable-driven parallel robot serial framework-type manipulator arm address conceptual design dimensional analysis. Based kinematic static modeling, we analyzed workspace of robot. Considering interference issues under different poses, dimensions terminal reachability system. The results show that can cover all areas be coated, providing new automated solution specialized tanker cabins.