毕业设计论文自动化专业外文翻译alicia3爬壁机器人的粘着控制Word格式文档下载.docx
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毕业设计论文自动化专业外文翻译alicia3爬壁机器人的粘着控制Word格式文档下载.docx
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StudidiCatania,vialeA.Doria6,95125CataniaItaly
Abstract.Climbingrobotsareusefuldevicesthatcanbeadoptedinavarietyof
applicationslikemaintenance,building,inspectionandsafetyintheprocessand
constructionindustries.
ThemaintargetoftheAlicia3robotistoinspectnonporousverticalwallwithanyregardforthematerialofthewall.Tomeetthistarget,apneumatic-likeadhesionforthesystemhasbeenselected.AlsothesystemcanmoveoverthesurfacewithasuitablevelocitybymeansoftwoDCmotorsandovercomesomeobstaclethankstoaspecialcupsealing.
Thisadhesiontechnologyrequiresasuitablecontrollertoimprovesystemreliability.Thisisbecausesmallobstaclespassingunderthecupandwallirregularitycanvarythevalueoftheinternalpressureofthecupputtingtherobotinsomeanomalousworkingconditions.Themethodologiesusedforderivinganaccuratesystemmodelandcontrollerwillbeexplainedandsomeresultwillbepresentedinthiswork.
1Introduction
Climbingrobotscanbeusedtoinspectverticalwallstosearchforpotentialdamageorproblemsonexternalorinternalsurfaceofaboveground/undergroundetrochemicalstoragetanks,concretewallsandmetallicstructures[1–4].Byusingthissystemascarrier,itwillbepossibletoconductanumberofNDIoverthewallbycarryingsuitableinstrumentation[5,6].Themainapplicationoftheproposedsystemistheautomaticinspectionoftheexternalsurfaceofabovegroundpetrochemicalstoragetankswhereitisveryimportanttoperformperiodicinspections(rateofcorrosion,riskofairorwaterpollution)atdifferentrates,asstandardizedbytheAmericanPetroleumInstitute[7].Thesystemcanbealsoadoptedtoinspectconcretedams.
Whilethesekindsofinspectionsareimportanttopreventecological
disastersandrisksforthepeopleworkingaroundtheplant,thesearevery
expensivebecausescaffoldingisoftenrequiredandcanbeverydangerous
Fig.1.TypicaloperatingenvironmentandtheAlicia3robot
fortechniciansthathavetoperformtheseinspections.Moreover,forsafety
reasons,plantoperationsmustbestoppedandthetankmustbeemptied,
cleanedandventilatedwhenhumanoperatorsareconductinginspections.In
Fig.1(a)and1(b)typicalenvironmentsforclimbingrobotsareshown.Figure
1cshowstheAlicia3robotprototypewhileattachedtoaconcretewallduring
asystemtest.
2SystemDescription
TheAliciaIIsystem(thebasicmodulefortheAlicia3system)ismainly
composedbyacup,anaspirator,twoactuatedwheelsthatusetwoDCmotors
withencodersandgearboxesandfourpassivesteelballswithclearanceto
guaranteeplaincontactofthecuptothewall.Thecupcanslideoverawall
bymeansofaspecialsealingthatallowsmaintainingasuitablevacuuminside
thecupandatthesametimecreatingtherightamountoffrictionwithrespect
systemweightandarangeofatargetwallkind.
ThestructureoftheAliciaIImodule,showninFig.2,currentlycomprises
threeconcentricPVCringsheldtogetherbyanaluminumsdisc.Thebigger
ringandthealuminumsdischaveadiameterof30cm.Thesealingsystemis
allocatedinthefirsttwoexternalrings.Boththetworingsandthesealingare
Fig.2.StructureoftheAliciaIImodule
designedtobeeasilyreplaceable,astheywearoffwhiletherobotisrunning.
Moreoverthesealingallowstherobotpassingoversmallobstacles(about1cm
height)likescrewsorweldingtraces.Thethirdring(thesmallestone)isused
asabaseforacylinderinwhichacentrifugalairaspiratoranditselectrical
motoraremounted.Theaspiratorisusedtodepressurizethecupformedby
theringsandthesealing,sothewholerobotcanadheretothewalllikea
standardsuctioncup.
Themotor/aspiratorsetisveryrobustandiscapableofworkinginharsh
environments.Thetotalweightofthemoduleis4Kg.
TheAlicia3robotismadewiththethreemoduleslinkedtogetherbymeans
oftworodsandaspecialrotationaljoint.Byusingtwopneumaticpistonsitis
possibletoriseandtolowereachmoduletoovercomeobstacles.Eachmodule
canberaised15cmwithrespecttothewall,soobstaclesthatare10–12cm
height,canbeeasilyovercame.Thesystemisdesignedtobeabletostay
attachedusingonlytwocupswhilethethird,anyofthethree,israisedup.
Thetotalweightofthesystemisabout20Kg.
3Electro-PneumaticSystemModel
Byusingthiskindofmovementandsealingmethod,itispossible,dueto
unexpectedsmallobstaclesonthesurface,tohavesomeairleakageinthe
cup.Thisleakagecancausetheinternalnegativepressuretoriseupandin
this
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