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Design and Research on Adsorption System of a Robot for Aircraft Skin Inspection

Author: LvZuo
Tutor: WangCongQing
School: Nanjing University of Aeronautics and Astronautics
Course: Precision instruments and machinery
Keywords: Wall-climbing robot vacuum absorption adsorption structure dynamic switch adsorptive adaptability
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 3
Quote: 0
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Abstract


The vacuum absorption climbing robot has great prospects in various fields. The vacuumabsorption climbing robot that is applied to aircraft skin detection is just at research stage.In order todevelop a platform of aircraft skin detection and study the platform’s adsorptive ability and switchingstrategy,this paper presents design and analysis of the platform of aircraft skin detection with the entrypoint of adsorption system.First,this paper introduces the adsorptive methods of existing wall-climbing robots and concludesadvantages and disadvantages of different adsorptive methods.The development and researchdifficulty of wall-climbing robot that apply to aircraft skin detection is introduced. The locomotiveproject,adsorptive project and overall project are selected and designed based on appliedrequirement.Two alternative designs are indicated,and the performance comparison are made amongthem.This paper further indicates the adsorbed condition and curvature of proper functioning.Adsorption structure of the vacuum absorption climbing robot is designed. The major factors ofthe effective pumping speed, conductance, leakage that affects adsorption capacity of the robot areanalyzed by using vacuum technique. The leak rate of the sucker and the switching strategy of theadsorption system are designed by theoretical analysis and experiment respectively and the leak rate’sparameters of the sucker are calculated. The values of the leak rate,the response and release curvesunder three circumstances are given respectively. Then, the paper proposes an effective analyzingmethod of leakage rate. It provides an intuitive and effective way to analyze wall-climbing robots’adsorptive ability.Besides，the process of vacuum absorptive system’s adsorption and release is further studied.Thechanges of pressure in the process is analysed in theory and validated by experiment.The process ofvacuum absorptive system’s dynamic switch is compared.Advantages and disadvantages of twoswitching scheme are discussed.The research provide a effective reference for analysis of gait andsecurity.Finally,the overall experiment of aircraft skin detection prototype is conducted.The loadperformance,gait performance and adsorptive adaptability are tested.Feasibility of the design isverified.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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