Design of Robotic System for Inspection, Maintenance and Repair of LNG Cargo Tank

摘要

THIS paper describes a robotic system that enablesworkers to access the inner wall of LNG cargo tank without scaffold.With the proposed arm, it is possible to reduce the cost and time inIMR job of LNG cargo tank. Since it does not contact of any part of theinner wall except the working area, there is no possibility to harm theinner wall during IMR task. This work also made a modification of theproposed robotic arm for FLNG that has space limitation on the topside. The original design is modified to the slim and modularizedversion with zipper action link structure. It can be installed from theupper deck of FLNG with limited space.