Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins-Reference-Cited by-同舟云学术

Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins

Published:2023-05-16 Issue:5 Volume:11 Page:1063
ISSN:2077-1312
Container-title:Journal of Marine Science and Engineering
language:en
Short-container-title:JMSE

Author:

Qie Jinbo¹²,Miao Yugang¹,Han Tao²,Liu Huiju²,Shao Zhufeng³^ORCID,Chang Daofang⁴

Affiliation:

1. College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150009, China

2. Shanghai Shipbuilding Technology Research Institute, Shanghai 201203, China

3. School of Mechanical Engineering, Tsinghua University, Beijing 100084, China

4. Logistics Engineering College, Shanghai Maritime University, Shanghai 201306, China

Abstract

Product oil tankers are essential transportation equipment for petroleum transfer. Due to petroleum products’ intense penetration and solubility, the quality requirements for coating product oil tankers are high, and regular maintenance is needed. Currently, this relies on manual labor, which involves working in enclosed spaces with harsh conditions, high labor intensity, long working time periods, and unstable quality. We proposed a lightweight, rigid–flexible robotic system using a cable-driven parallel robot with a serial framework-type manipulator arm to address this with conceptual design and dimensional analysis. Based on the kinematic and static modeling, we analyzed the workspace of the cable-driven parallel robot. Considering the interference issues under different robot poses, we analyzed the dimensions of the framework-type manipulator arm and the terminal reachability of the rigid–flexible robotic system. The results show that the proposed rigid–flexible robot can cover all areas to be coated, providing a new automated solution for the specialized coating of product oil tanker cabins.

Publisher

MDPI AG

Subject

Ocean Engineering,Water Science and Technology,Civil and Structural Engineering

Link

https://www.mdpi.com/2077-1312/11/5/1063/pdf

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