一种新型钢储罐检测爬壁机器人机电一体化设计

2015 16th International Conference on Research and Education in Mechatronics (REM) Pub Date : 2015-11-01 DOI:10.1109/REM.2015.7380365

M. Moniri, M. Bamdad, A. Hajizadeh

{"title":"一种新型钢储罐检测爬壁机器人机电一体化设计","authors":"M. Moniri, M. Bamdad, A. Hajizadeh","doi":"10.1109/REM.2015.7380365","DOIUrl":null,"url":null,"abstract":"Manual inspection and maintenance of above ground storage tanks can be dangerous and time consuming. This paper presents a wall climbing mobile robot with permanent magnetic adhesion mechanism which can be used for tank inspection. The architecture of mechanical system is attended to in detail. Through a static and dynamic analysis, permanent magnetic adhesion mechanism is chosen for the robot. The tracked locomotion mechanism and the magnetic wheels are used simultaneously. After the robot modeling, the parameters design for the adhesion and locomotion mechanisms are derived.","PeriodicalId":191988,"journal":{"name":"2015 16th International Conference on Research and Education in Mechatronics (REM)","volume":"6 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2015-11-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":"{\"title\":\"A novel mechatronic design of wall climbing robot for steel storage tank inspection\",\"authors\":\"M. Moniri, M. Bamdad, A. Hajizadeh\",\"doi\":\"10.1109/REM.2015.7380365\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"Manual inspection and maintenance of above ground storage tanks can be dangerous and time consuming. This paper presents a wall climbing mobile robot with permanent magnetic adhesion mechanism which can be used for tank inspection. The architecture of mechanical system is attended to in detail. Through a static and dynamic analysis, permanent magnetic adhesion mechanism is chosen for the robot. The tracked locomotion mechanism and the magnetic wheels are used simultaneously. After the robot modeling, the parameters design for the adhesion and locomotion mechanisms are derived.\",\"PeriodicalId\":191988,\"journal\":{\"name\":\"2015 16th International Conference on Research and Education in Mechatronics (REM)\",\"volume\":\"6 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2015-11-01\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"3\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2015 16th International Conference on Research and Education in Mechatronics (REM)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/REM.2015.7380365\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2015 16th International Conference on Research and Education in Mechatronics (REM)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/REM.2015.7380365","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 3

摘要

人工检查和维护地上储罐既危险又耗时。介绍了一种用于油罐检测的永磁附着机构爬壁移动机器人。详细介绍了机械系统的结构。通过对机器人的静态和动态分析，选择了永磁附着机构。履带式运动机构与磁轮同时使用。在对机器人进行建模后，推导了附着机构和运动机构的参数设计。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

A novel mechatronic design of wall climbing robot for steel storage tank inspection

Manual inspection and maintenance of above ground storage tanks can be dangerous and time consuming. This paper presents a wall climbing mobile robot with permanent magnetic adhesion mechanism which can be used for tank inspection. The architecture of mechanical system is attended to in detail. Through a static and dynamic analysis, permanent magnetic adhesion mechanism is chosen for the robot. The tracked locomotion mechanism and the magnetic wheels are used simultaneously. After the robot modeling, the parameters design for the adhesion and locomotion mechanisms are derived.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

2015 16th International Conference on Research and Education in Mechatronics (REM)

自引率

0.00%

发文量