Tracked Wall-Climbing Robot for Calibration of Large Vertical Metal Tanks

Chen, Xianlei; Wu, Yiping; Hao, Huadong; Shi, Haolei; Huang, Haocai

doi:10.3390/app9132671

Cited by 25 publications

(16 citation statements)

References 20 publications

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“…For flat terrain, rolling robots have the characteristics of fast-moving speed and wide range of motion [1]. Compared with wheeled, tracked, or legged structures [2][3][4], they have smaller volume and higher fault tolerance. When facing rough terrain or large obstacles, jumping robots are obviously the most reasonable choice, which can surmount an obstacle of their own size, or even several times their own size [5].…”

Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Wang

et al. 2021

Applied Sciences

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Complex and unknown areas in deep space exploration present major challenges to the motion ability of current space robots. Different from the traditional single-mode motion space robot, a compound motion robot with flexible movement and strong obstacle surmounting ability is proposed. Through the highly integrated structure design, the lightweight robot has the ability of rolling and jumping, and the kinematic characteristics of the robot under two motion modes are analyzed. This work provides a reference for the design of deep space exploration equipment with high motion capability in the future.

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Section: Introductionmentioning

confidence: 99%

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Wang

et al. 2021

Applied Sciences

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“…Due to the capability to perform dangerous tasks, instead of people, in hazardous environments, research on wall-climbing robots has become a significant subject in robotics [1][2][3][4][5]. Currently, most wall-climbing robots are intended for maintenance or inspection in certain environments, such as the exteriors of buildings, bridges, or dams [6][7][8][9][10].…”

Section: Introductionmentioning

confidence: 99%

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Tang²,

et al. 2020

Robotics

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This paper proposes a pressing method for wall-climbing robots to prevent them from falling. In order to realize the method, the properties of the utilized suction cup are studied experimentally. Then based on the results, a guide rail is designed to distribute the attached suction cup force and implement the pressing method. A prototype of a wall-climbing robot that utilizes passive suction cups and one motor is used to demonstrate the proposed method. An experimental test-bed is designed to measure the force changes of the suction cup when the robot climbs upwards. The experimental results validate that the suction cup can completely attach to the surface by the proposed method, and demonstrate that the robot can climb upwards without falling.

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“…In the last few decades, the climbing robotic system, which can adhesive to the metal surface, were widely studied to realize the automation and high efficiency. The commonly used adhesion methods for climbing robots in the literature include vacuum adhesion [17], bio-inspired adhesion [18], gripping to the surface method [19], magnetic adhesion [20,21], and so on. Each method has its advantages and disadvantages, and detailed analysis can be found in the literature [22].…”

Section: Introductionmentioning

confidence: 99%

Influence of Processing Parameters on Coating Removal for High Pressure Water Jet Technology Based on Wall-Climbing Robot

Zhang

Sun²,

Li³

et al. 2020

Applied Sciences

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Featured Application: The study shown in this manuscript helps to guide the further application of a wall-climbing robot for the shipbuilding industry.Abstract: The shipbuilding industry is very important for many countries. As an essential process in the shipbuilding industry, surface preparation (or coating removal) is gaining more and more attention. The traditional process used for ship hull coating removal is a sand-blasting process, which is harmful to the environment and inefficient. Recently, high pressure water jet technology has been developed to replace the traditional sand-blasting process. However, there are still many technical problems to be solved. In this paper, one wall-climbing robot was developed to remove coating based on high pressure water jet technology. Coating removal experiments under various experimental conditions were carried out and the corresponding coating removal rate for each case was obtained and compared. In addition, numerical simulation based on Fluid software was conducted to observe the water jet process more visually. Results show that the processing parameters, including the water pressure, travelling speed, inclined angle, and stand-off distance, can greatly influence the coating removal effect. The optimal processing parameters are obtained to guide the application of the high pressure water jet technology based on the designed wall-climbing robot for the shipbuilding industry.Many cleaning methods have been proposed and applied for hull cleaning in the last several decades. The most widely used traditional ship surface cleaning method is called sand-blasting [2], which generates a profile in micrometer-range by accelerating a sand-basting media through a nozzle with compressed air. However, this sand-blasting method has an obvious disadvantage: the concentration of soluble substances on the treated surface after sand-blasting is very high, and thus an extra cleaning process should be added before recoating [3]. Besides the sand-blasting method, there are also other surface preparation methods, such as high temperature oxidation [4], electrochemical method [5] and laser coating removal method [6]. The former two methods are not environmental friendly, and they both require large energy consumption, while the latter can induce thermal and physical damage to the work-piece due to excessive heat produced by the laser. Recently, hybrid laser-water-jet technology was proposed to yield high material removal rate without thermal damage [7], the energy consumption was also reduced but the costs of applying the two technologies are quite expensive.According to the literature mentioned above, the challenges faced during ship hull cleaning can be addressed as: How to minimize the energy consumption? How to realize environmental protection? How to enhance the cleaning efficiency? For the first two requirements, high speed water jet technology has been introduced recently as a promising substitute method [8]. During the water jet process, the potential energy of the high pressure w...

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Tracked Wall-Climbing Robot for Calibration of Large Vertical Metal Tanks

Cited by 25 publications

References 20 publications

Design and Analysis of the Rolling and Jumping Compound Motion Robot

Design and Analysis of the Rolling and Jumping Compound Motion Robot

A Pressing Attachment Approach for a Wall-Climbing Robot Utilizing Passive Suction Cups

Influence of Processing Parameters on Coating Removal for High Pressure Water Jet Technology Based on Wall-Climbing Robot

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