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

Chinese Journal of Mechanical Engineering 2021年第1期34卷 241-250页

作者： Chunlei Tu Shanshan Jin Kai Zheng Xingsong Wang Sichong Sun College of Mechanical Engineering Southeast UniversityNanjing 211189China Special Equipment Safety Supervision Inspection Institute of Jiangsu Province Nanjing 210036China College of Power Engineering Chongqing UniversityChongqing 400044China

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.

关键词： Support mechanism Inspection of the spherical tank ansys simulation Robot positioning

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MEMS magnetic field sensor based on silicon bridge structure

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Journal of Semiconductors 2010年第10期31卷 68-73页

作者：杜广涛陈向东林其斌李辉郭辉辉 School of Information Science and Technology Southwest Jiaotong University

A MEMS piezoresistive magnetic field sensor based on a silicon bridge structure has been simulated and tested. The sensor consists of a silicon sensitivity diaphragm embedded with a piezoresistive Wheatstone bridge, and a ferromagnetic magnet adhered to the sensitivity diaphragm. When the sensor is subjected to an external magnetic field, the magnetic force bends the silicon sensitivity diaphragm, producing stress and resistors change of the Wheatstone bridge and the output voltage of the sensor. Good agreement is observed between the theory and measurement behavior of the magnetic field sensor. Experimental results demonstrate that the maximum sensitivity and minimum resolution are 48 mV/T and 160 μT, respectively, making this device suitable for strong magnetic field measurement. Research results indicate that the sensor repeatability and dynamic response time are about 0.66% and 150 ms, respectively.

关键词： silicon bridge magnetic field sensor ferromagnetic magnet ansys simulation magnetic pressure MEMS

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