Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks
Proposed wall climbing robot with permanent magnetic tracks for inspecting oil tanks
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DOI：
10.1109/icma.2005.1626882
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发表时间：
2005-07
期刊：
影响因子：
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通讯作者：
W. Shen;J. Gu;Yanjun Shen
中科院分区：
文献类型：
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作者：
W. Shen;J. Gu;Yanjun Shen
本文提出了一种关于永磁轨道爬壁机器人的研究建议。对爬壁机器人进行了简要回顾，比较了不同的爬壁机器人原型，并介绍了不同的应用领域。提出了一种用于油罐检查的带有永磁吸附机构的爬壁机器人。论文详细介绍了机械系统架构。通过分析机器人的工作空间，为机器人选择永磁吸附机构。此外，机器人还采用了履带式运动机构。通过对机器人的静态和动态力分析，推导出附着和运动机构的设计参数。此外，还获得了机器人的安全约束。最后，给出了机器人的电气系统架构。为了提高效率，机器人系统采用层次控制架构。使用并安装在机器人中的嵌入式系统来管理多个传感器并通过无线链路与主计算机进行通信。文中还对机器人的基于网络的远程操作进行了说明。
This paper presents a proposed research on the wall climbing robot with permanent magnetic tracks. A brief review about the wall climbing robot is given, different prototypes of wall climbing robot are compared, and the different application fields are introduced. A proposed wall climbing robot with permanent magnetic adhesion mechanism for inspecting oil tanks is put forward. The mechanical system architecture is detailed in the paper. By analyzing the robot's workspace, permanent magnetic adhesion mechanism is chosen for the robot. Also, tracked locomotion mechanism is applied to the robot. By static and dynamic force analysis of the robot, design parameters about adhesion and locomotion mechanism are derived. In addition, safety constraints for the robot are obtained. Finally, the electrical system architecture for the robot is offered. To improve the efficiency, hierarchy control architecture is employed in the robot system. An embedded system is used and installed in the robot to manage multiple sensors and to communicate with the master computer through the wireless link. And the Web-based teleoperation for the robot is illustrated in the paper.