Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank
نویسندگان
چکیده
Abstract Large pressure equipment needs to be tested regularly ensure safe operation; wall-climbing robots can carry the necessary tools inspect spherical tanks, such as cameras and non-destructive testing equipment. However, a robot inside tank cannot accurately positioned owing particularity of structure. This paper proposes passive support positioning mechanism fixed in improve adsorption capacity accuracy inspection robot. The main body was designed truss composed carbon fiber telescopic rods work tanks with diameters 4.6?15.7 m. structural strength, stiffness, stability are analyzed via force deformation simulations. By constructing mathematical model mechanism, influence on supporting is calculated. method based effectively locate tank. Experiments verified performance mechanism. research an auxiliary for detection tank, which meet robotic requirements.
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ژورنال
عنوان ژورنال: Chinese Journal of Mechanical Engineering
سال: 2021
ISSN: ['1000-9345', '2192-8258']
DOI: https://doi.org/10.1186/s10033-020-00522-7