Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank

作     者：Chunlei Tu Shanshan Jin Kai Zheng Xingsong Wang Sichong Sun Chunlei Tu;Shanshan Jin;Kai Zheng;Xingsong Wang;Sichong Sun

作者机构：College of Mechanical EngineeringSoutheast UniversityNanjing 211189China Special Equipment Safety Supervision Inspection Institute of Jiangsu ProvinceNanjing 210036China College of Power EngineeringChongqing UniversityChongqing 400044China 

出 版 物：《Chinese Journal of Mechanical Engineering》 (中国机械工程学报（英文版）)

年 卷 期：2021年第34卷第1期

页      面：241-250页

核心收录：

学科分类：080704[工学-流体机械及工程] 0817[工学-化学工程与技术] 08[工学] 080202[工学-机械电子工程] 0807[工学-动力工程及工程热物理] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0811[工学-控制科学与工程] 0801[工学-力学（可授工学、理学学位）] 

基　　金：Supported by Jiangsu Major Research and Development(Social Development)Project of China(Grant No.BE2016802) 

主　　题：Support mechanism Inspection of the spherical tank Ansys simulation Robot positioning 

摘      要：Large pressure equipment needs to be tested regularly to ensure safe operation;wall-climbing robots can carry the necessary tools to inspect spherical tanks,such as cameras and non-destructive testing ***,a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank *** paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection *** main body of the mechanism was designed as a truss composed of carbon fiber telescopic rods and can work in spherical tanks with diameters of 4.6-15.7 *** structural strength,stiffness,and stability of the mechanism are analyzed via force and deformation *** constructing a mathematical model of the support and positioning mechanism,the influence of structural deformation on the supporting capacity is analyzed and *** robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical *** verified the support performance and robot positioning accuracy of the *** research proposes an auxiliary support and positioning mechanism for a detection robot inside a spherical tank,which can effectively improve the positioning accuracy of the robot and meet the robotic inspection requirements.