Permanent Magnet Absorbed Repairing End Effector for Wall-Climbing Robot

被引：0
|
作者：
Cui, Z. W. [1 ]
Sun, Z. G. [1 ]
Zhang, W. Z. [1 ]
Chen, Q. [1 ,2 ]
机构：
[1] Tsinghua Univ, Dept Mech Engn, Beijing 100084, Peoples R China
[2] Tsinghua Univ, Yangtze Delta Reg Inst, Jiaxing, Peoples R China
来源：
PROCEEDINGS OF THE 2015 INTERNATIONAL CONFERENCE ON ELECTRICAL, AUTOMATION AND MECHANICAL ENGINEERING (EAME 2015) | 2015年 / 13卷
关键词：
end effector; wall-climbing robot; all-position operation; magnetic adsorption; complex curved surface;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
In order to fulfil all-position amending of weld seam with wall-climbing robot, a permanent magnet adsorbed repairing end effector (REE) is developed. Cutting tool is installed in atwo-dimensional (2D) cutting force mode to decrease the driving force ofthemanipulator. A permanent magnet adsorption supporting apparatus (PMASA) is specially designed, so as to achieve reliable adsorption and flexible movement on complex curved surface. Both lifting and rotatingofthecutting tool are realized separately. The end effector is Phi 274 mmx240 mm in sizeand less than 10 kg in weight. Integrated withawall-climbing robot, the REEcouldperform all-position repairing works on the complex curved surface of steel structures, whose curvature radius is above 1.5 m.
引用
收藏
页码：105 / 108
页数：4
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