Design of landing platform on climbing robot for a Small Unmanned Aerial Vehicle

Cai, Zhaoyang; Tao, Zhihua; Bai, Jialin; Qu, Gaomeizhu; Zhang, Si

doi:10.1109/icma.2015.7237891

Cited by 3 publications

(4 citation statements)

References 3 publications

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“…To ensure the safety and stability of wall-climbing robots, a sufficient adsorption capacity has to be considered first. According to different working environments, various adsorption techniques can be selected, such as negative pressure adsorption [ 14 , 15 ], bionic adsorption [ 16 , 17 ], thrust adsorption [ 18 , 19 ] and magnetic adsorption [ 20 , 21 , 22 ]. Generally, permanent magnet adsorption is used for metal walls, which can provide a large adsorption force without requiring external energy consumption.…”

Section: Robot System Designmentioning

confidence: 99%

Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

et al. 2023

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Wall-climbing robots have been well-developed for storage tank inspection. This work presents a backstepping sliding-mode control (BSMC) strategy for the spatial trajectory tracking control of a wall-climbing robot, which is specially designed to inspect inside and outside of cylindrical storage tanks. The inspection robot is designed with four magnetic wheels, which are driven by two DC motors. In order to achieve an accurate spatial position of the robot, a multisensor-data-fusion positioning method is developed. The new control method is proposed with kinematics based on a cylindrical coordinate system as the robot is moving on a cylindrical surface. The main purpose is to promote a smooth and stable tracking performance during inspection tasks, under the consideration of the robot's kinematic constraints and the magnetic restrictions of the adhesion system. The simulation results indicate that the proposed sliding mode controller can quickly correct the errors and global asymptotic stability is achieved. The prototype experimental results further validate the advancement of the proposed method; the wall-climbing robot can track both longitudinal and horizontal spatial trajectories stably with high precision.

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Section: Robot System Designmentioning

confidence: 99%

Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

et al. 2023

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“…Substituting the value of l x into Eq. (16), the curve of the thrust F AN with the cantilever angle 2α is solved, as shown in Figure 10. Thus, considering the deformation, the thrust provided by the support mechanism is still over 450 N, which satisfies the design objective.…”

Section: Figurementioning

confidence: 99%

“…The adsorption capacity is the basic ability of wallclimbing robots. At present, a variety of adsorption methods have been applied to wall-climbing robots, mainly including negative pressure adsorption [1][2][3][4][5][6], permanent magnet adsorption [7][8][9][10][11][12][13][14][15], thrust adsorption [16,17], and bionic adsorption [18,19].…”

Section: Introductionmentioning

confidence: 99%

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

Jin

Zheng

et al. 2021

Chin. J. Mech. Eng.

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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 equipment. However, a wall-climbing robot inside a spherical tank cannot be accurately positioned owing to the particularity of the spherical tank structure. This paper proposes a passive support and positioning mechanism fixed in a spherical tank to improve the adsorption capacity and positioning accuracy of the inspection robot. The 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 m. The structural strength, stiffness, and stability of the mechanism are analyzed via force and deformation simulations. By constructing a mathematical model of the support and positioning mechanism, the influence of structural deformation on the supporting capacity is analyzed and calculated. The robot positioning method based on the support and positioning mechanism can effectively locate the robot inside a spherical tank. Experiments verified the support performance and robot positioning accuracy of the mechanism. This 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.

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“…To ensure the safety and stability of wall-climbing robots at work, sufficient adsorption capacity is essential. In different working environments, different adsorption methods will be selected, such as negative pressure  *Correspondence: xswang@seu.edu.cn 1 College of Mechanical Engineering, Southeast University, Nanjing, 211189, China 2 Special Equipment Safety Supervision Inspection Institute of Jiangsu Province, Nanjing, 210036, China adsorption [1][2][3], bionic adsorption [4][5][6], thrust adsorption [7,8] and magnetic adsorption [9][10][11][12]. Permanent magnet adsorption is used for metal walls, which can provide a large adsorption force and does not require external energy consumption.…”

Section: Introduction mentioning

confidence: 99%

Integrated Inspection Robotic System for Spherical Tanks: Design, Analysis and Application

Li¹,

Liang

Zheng

et al. 2022

Preprint

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Automated robot inspection for spherical tank is beneficial to improving work efficiency and reducing costs. This paper presents an inspection robotic system that integrates software and hardware. The designed inspection robot can adsorb and climb on the vertical surface of tanks, carrying some equipment and tools. The mechanical structure of the robot includes four magnetic wheels, two drive components, a vision component and a multi-layer robot frame. Modular magnetic wheels can be installed and replaced quickly and easily. Additional grinding mechanism, cleaning mechanism and detection mechanism are also designed to achieve automated inspection and maintenance. The robotic system software is developed to achieve the remote control and monitoring of the robot. The deep networks of Mask R-CNN are applied to intelligently identify weld seams. Force balance and obstacle-negotiation performance of the robot are analyzed and simulated. Climbing experiments results indicate that the robot can carry 10.1 kg payload and climb stably on the vertical tank wall. In obstacle-surmounting experiments, the robot could smoothly negotiate the weld seam with a height of 4 mm. The robotic system can identify weld seams in real time after training and learning, the identification time of each image is about 0.2-0.25s. The field tests on a 3000 m3 spherical tank were carried out to test the practicality of the robotic system. The application of this inspection robotic system can effectively improve the automated inspection and maintenance of spherical tanks.

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Design of landing platform on climbing robot for a Small Unmanned Aerial Vehicle

Cited by 3 publications

References 3 publications

Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

Spatial Trajectory Tracking of Wall-Climbing Robot on Cylindrical Tank Surface Using Backstepping Sliding-Mode Control

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

Integrated Inspection Robotic System for Spherical Tanks: Design, Analysis and Application

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