菜单
  

    walls with suction pads and carry an ultrasonic NDT tool for
    inspection of the large surface of industrial utilities. In [18],
    the author presents a novel application of the Stewart-Gough
    parallel platform as a climbing robot and its kinematics
    control to climb through long structures describing unknown
    spatial trajectories, such as palm trunks, tubes, etc. In [19], the
    ROMA robot, a specially developed self-supported robot is
    built, which is designed to perform 3D complex movements
    and to navigate through metallic structures using “caterpillar”
    concept. The adhesion mechanism and architecture of a wall
    climbing robot are depended on its workspace. Our proposed
    wall climbing robot is to carry NDT tools for inspecting the
    oil tanks. We choose permanent magnetic adhesion
    mechanism and tracked locomotion mechanism, due to high
    reliability, simple control, running at a high speed, etc. As a
    wall climbing robot with permanent magnetic adhesion
    mechanism, the magnetic system is of importance, because it
    will provide reliable absorption and safety.
    The paper is organized as follows. Section 2 gives a brief
    background and related research. Section 3 details the analysis
    of static and dynamic force about the wall climbing robot. The
    design of the magnetic system is discussed in Section 4.
    Applications of the magnetic system and experiments are
    given in Section 5. The paper is concluded in Section 6.
     According to the requirements for the wall climbing
    robot, the proposed wall climbing robot adopts permanent
    magnetic adhesion, tracked locomotion [20]. The mechanical
    architecture of the proposed wall climbing robot is shown in
    Fig.1. It includes the frame of the body, the servo motors and
    transmission system, the tracked locomotion system, the
    permanent magnetic adhesion system, and the anti-toppling
    system.  Each track is comprised of a roller chain, two
    sprockets, and some evenly arranged permanent magnetic unit.
    When the robot moves, there are always a certain number of
    units in good contact with the surface which enable the robot
    to reliably stay on it. The servo motors and the transmission
    system provide driving power for the roller chain. The anti-
    toppling system ensures the robot to safely move on the
    surface up to 10mm fluctuation. This paper will detail the
    design of magnetic circuit system.  The static and dynamic analysis of the wall climbing
    robot with permanent magnetic tracked locomotion
    mechanism is important to derive the requirements of the
    magnetic adhesion mechanism.
    A. Static Force Analysis
     If a wall climbing robot can safely move in a flat surface,
    it needs to fulfill some force constraints. The force analysis
    includes static and dynamic parts as follows.
     When the robot keeps staying on the vertical surface, it
    bears such forces as the gravity, the adhesion force between
    the permanent magnetic units, the supporting force of the
    surface, and the friction between the tracks and the surface,
    which can be denoted as G, Fmi, Ni, and Ff, respectively.
     There are 3 cases for the static force analysis when the
    robot maintains the static status on the vertical wall.
    摘要:目前主要设计爬壁机器人的永磁性系统以及其永磁爬壁轨道.一个关于永磁性爬壁机器人的吸附力装置的检查要检查其油箱的建议被提了出来.以及设计该装置的设计师.这个永磁性吸附装置及其轨道运动装置服务于这个机器人系统.关于机器人静态的动态的力分析还有其设计参数都从其粘着装置中得出来.有两种关于永磁单位的物质构造被提出来.关于这两种物质构造的分析也是很详细的.最后,准备设计两种有着不同磁性系统的实验做了出来.7201
  1. 上一篇:电铸镍壳在注塑模具的应用英文文献和中文翻译
  2. 下一篇:城市可持续发展英文文献和中文翻译
  1. 滑动爬壁机器人英文文献和中文翻译

  2. 乳业同业并购式全产业链...

  3. 河岸冲刷和泥沙淤积的监测国内外研究现状

  4. 中考体育项目与体育教学合理结合的研究

  5. 十二层带中心支撑钢结构...

  6. 大众媒体对公共政策制定的影响

  7. 当代大学生慈善意识研究+文献综述

  8. java+mysql车辆管理系统的设计+源代码

  9. 电站锅炉暖风器设计任务书

  10. 酸性水汽提装置总汽提塔设计+CAD图纸

  11. 杂拟谷盗体内共生菌沃尔...

  

About

751论文网手机版...

主页:http://www.751com.cn

关闭返回