Design and Analysis of a Wire-Dirven Parallel Mechanism for Large Vertical Storage Tank

doi:10.3901/JME.2016.09.001

Abstract

Abstract: Traditional working platforms for the maintenance work of large vertical storage tank such as scaffolding, rail and wall-climbing robots have many disadvantages like difficulty on disassembly, complex system or the low moving speed etc. These affect the efficiency of maintenance and limit the payload of working platform. Wire-driven parallel mechanism is new kind of robots with the advantages of large workspace, modular structure and big load capacity, which mean that it is promising to use it as working platform of large vertical storage tank. A new modular wire-driven parallel mechanism is proposed. Depending on the basic theory of parallel mechanism and modular design, the robot has eight wires and four modular rods. The position of each wire on rod is adjustable. After establishing the kinematic model, the influence on workspace by each parameter is given, which make it possible to optimize structure parameters for vertical storage tank of 20 m diameter. While the platform moves along different trajectory, analysis on the change of wire length and wire force shows better motion planning trajectory.

Key words: design, motion planning, vertical tank, wire-driven parallel mechanism, workspace

CLC Number:

TP242

WANG Weifang¹, TANG Xiaoqiang^{1, 2}, SHAO Zhufeng^{1, 2}. Design and Analysis of a Wire-Dirven Parallel Mechanism for Large Vertical Storage Tank[J]. Journal of Mechanical Engineering, 2016, 52(9): 1-8.

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