Effects of Changes of the Centre of Gravity of a Robotic Scanning Arm on the Performance of a Versatile Wall-Climbing Robotic NDT System

摘要

The centre of gravity of the scannign arm of a climbing robotic NDT system changes its position in a 3D space while scanning. This causes a vaiable loading on and instability of the vehicle frame and leads to unwanted changes of the satnd-off or contact presure between the sensor and the surface under inspection. An original model of the scanningsystem is established to describe the kinematics of its centre of gravity. Equations for its mechanics are derived to solve for the rotating moment and the overturning moment on the climbing vehicle. Equations are also derived to describe the position deviation of the vehicle and sensor positioning errors from a desired scan trajectory.