Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins
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 involv...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/5/1063 |
| _version_ | 1797599499145707520 |
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| author | Jinbo Qie Yugang Miao Tao Han Huiju Liu Zhufeng Shao Daofang Chang |
| author_facet | Jinbo Qie Yugang Miao Tao Han Huiju Liu Zhufeng Shao Daofang Chang |
| author_sort | Jinbo Qie |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-03-11T03:35:14Z |
| format | Article |
| id | doaj.art-316368a80c4e4f6f98c89e0c3a86bb8a |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T03:35:14Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-316368a80c4e4f6f98c89e0c3a86bb8a2023-11-18T02:00:49ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-05-01115106310.3390/jmse11051063Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil CabinsJinbo Qie0Yugang Miao1Tao Han2Huiju Liu3Zhufeng Shao4Daofang Chang5College of Shipbuilding Engineering, Harbin Engineering University, Harbin 150009, ChinaCollege of Shipbuilding Engineering, Harbin Engineering University, Harbin 150009, ChinaShanghai Shipbuilding Technology Research Institute, Shanghai 201203, ChinaShanghai Shipbuilding Technology Research Institute, Shanghai 201203, ChinaSchool of Mechanical Engineering, Tsinghua University, Beijing 100084, ChinaLogistics Engineering College, Shanghai Maritime University, Shanghai 201306, ChinaProduct 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.https://www.mdpi.com/2077-1312/11/5/1063product oil tankerspecial coatingcable-driven parallelrigid–flexible robot |
| spellingShingle | Jinbo Qie Yugang Miao Tao Han Huiju Liu Zhufeng Shao Daofang Chang Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins Journal of Marine Science and Engineering product oil tanker special coating cable-driven parallel rigid–flexible robot |
| title | Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins |
| title_full | Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins |
| title_fullStr | Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins |
| title_full_unstemmed | Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins |
| title_short | Design and Reachability Analysis of a Rigid–Flexible Robot for Interior Wall Spraying of Large Oil Cabins |
| title_sort | design and reachability analysis of a rigid flexible robot for interior wall spraying of large oil cabins |
| topic | product oil tanker special coating cable-driven parallel rigid–flexible robot |
| url | https://www.mdpi.com/2077-1312/11/5/1063 |
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