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Volume 41 Issue 2
Feb.  2015
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Journal of Beijing University of Aeronautics and Astronautics  > 2015  >  41(2): 209-215.
CHEN Youdong, JI Xudong, TANG Weiet al. Pipeline spraying robot: structure and pose adjustment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163(in Chinese)
Citation: CHEN Youdong, JI Xudong, TANG Weiet al. Pipeline spraying robot: structure and pose adjustment[J]. Journal of Beijing University of Aeronautics and Astronautics, 2015, 41(2): 209-215. doi: 10.13700/j.bh.1001-5965.2014.0163(in Chinese)
shu

Pipeline spraying robot: structure and pose adjustment

doi: 10.13700/j.bh.1001-5965.2014.0163
  • 1.

    School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100191, China

  • 2. School of Mechanical, Hefei University of Technology, Hefei 230051, China

  • Received Date: 27 Mar 2014
  • Publish Date: 20 Feb 2015
    Abstract
  • To meet the demand of large allotype pipelines inner wall spraying, a pipeline spraying robot with series and parallel structure was designed, which consisted of a support platform and a series manipulator. The support platform was modeled by geometric method. The manipulator was analyzed by D-H method. Based on the robot model, inverse equations were obtained. After the robot was positioned initially, the robot and pipeline poses were measured by laser tracker. The adjustments were calculated by the inverse equations. According to the adjustments, the robot was adjusted so that the axis of the pipeline coincided with the axis of the spray gun. Through the implemented by the manufacturing plant, the effectiveness of the pipeline spray robot and the method of the pose adjustment were confirmed, and the results show that the robot can improve the efficiency and the quality of spray.

     

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