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ON THE DESIGN OF MULTI-TASK, COMPACT, CLIMBING ROBOTIC NDT SYSTEMS FOR REMOTE OPERATION ON LARGE SURFACES AND IN HAZARDOUS ENVIRONMENTS

 

作者: B. BRIDGE,   T. SATTAR,   S. CHEN,   A. KHALID,  

 

期刊: Nondestructive Testing and Evaluation  (Taylor Available online 1997)
卷期: Volume 13, issue 2  

页码: 85-111

 

ISSN:1058-9759

 

年代: 1997

 

DOI:10.1080/02780899708953021

 

出版商: Taylor & Francis Group

 

关键词: NDT;remote;robotics;climbing;inspection;hazardous.

 

数据来源: Taylor

 

摘要:

An analysis is given of the problems associated with the design of multiple purpose Robotic NDT systems which are readily transportable between different geographical locations and are able to climb over large areas of vertical walls and ceilings of any material composition to provide access to remote and hazardous environments. The analysis is illustrated by the description of a prototype system, designed in a modular fashion with off-the-shelf components to minimise development and subsequent batch production costs. Essentially the system consists of a pneumatically powered vehicle carrying an anthropomorphic arm i.e. an arm with at least six degrees of freedom that replicates some relevant advantageous characteristics of the human arm. Its performance is illustrated by some indicative trial results using ultrasonic wet and dry contact techniques applied to a simulated wall of a large ferrous oil storage tank containing corrosion thinning defects.

 

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