Abstract
When the robot uses the flat scrub head to clean the outer surface of the fuel tank, the recessed structure near the ends of the fuel tank cannot be in good contact. In this paper, the outer contour of the fuel tank is detected by laser ranging sensor and described by NURBS curve. The interference between the scrub head and the fuel tank is divided into 16 cases. It is further divided into 4 types, and different adjustment algorithms are studied for different types. The article also studies the motion characteristics of the end trajectory. The results show that the proposed algorithm can greatly improve the contact area between the scrubbing head and the fuel tank surface, and ensure that the motion characteristic curve is smooth and will not impact the robot.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Jones, R.D., Gurley, D., Bruer, K., et al.: Dry ice cleaning of metal surfaces to improve welding chatacteristics. Google Pantents (2012)
Jeong, K.-S., Lee, K.-W., Lim, H.-K.: Risk assessment on hazards for decommissioning safety of a nuclear facility. Ann. Nuclear Energy 37(12), 1751–1762 (2010)
Wani, I.A., Ganguly, A., Ahmed, J.: Silver nanoparticles: ultrasonic wave assisted synthesis, optical characterization and surface area studies. Mater. Lett. 65(3), 520–522 (2011)
Cowan, M., Page, J., Sheng, P.: Ultrasonic wave transport in a system of disordered resonant scatterers: propagating resonant modes and hybridization gaps. Phys. Rev. B 84(9), 297–305 (2011)
Guoqiang, C., Rui, Z.: Review on high pressure water jet. J. Shenyang Aerosp. Univ. 6, 1–16 (2017)
Yang, J., et al.: A double threshold correction method for walk error in pulsed laser ranging system. Infrared Phys. Technol. 100, 28–36 (2019)
Space Research; New Data from Wroclaw University of Environmental and Life Sciences Illuminate Findings in Space Research (Characteristics of Goce Orbits Based On Satellite Laser Ranging). Science Letter (2019)
Nguyen, T.N., Thai, C.H., Luu, A.-T., Nguyen-Xuan, H., Lee, J.: NURBS-based postbuckling analysis of functionally graded carbon nanotube-reinforced composite shells. Comput. Methods Appl. Mech. Eng. 347, 983–1003 (2019)
Faroughi, S., Shafei, E., Eriksson, A.: NURBS-based modeling of laminated composite beams with isogeometric displacement-only theory. Compos. Part B 162, 89–102 (2019)
Kljuno, E., Catovic, A.: Estimation of projected surface area of irregularly shaped fragments. Defence Technol. 15(2), 198–209 (2019)
Jia, S., Dong, Z., Li, X., et al.: Distributed intelligent assistance robotic system with sensor networks based on robot technology middleware. Int. J. Distrib. Sensor Netw. 10(6), 908260 (2014)
Choi, J., Cho, Y., Choi, J., et al.: A layered middleware architecture for automated robot services. Int. J. Distrib. Sensor Netw. 10(5), 201063 (2014)
Acknowledgements
This thesis is supported by the major sub-item of “High-Grade CNC Machine Tools and Basic Manufacturing Equipment” of the major science and technology project “Aerospace Lightweight Structures Complete Manufacturing Equipment Demonstration Line (2017ZX04005001).”
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Fan, X., Xu, H., Huang, W., Lin, Y. (2019). Large Contact Area Trajectory Planning Algorithm for Fuel Tank with Irregular Surfaces. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11745. Springer, Cham. https://doi.org/10.1007/978-3-030-27529-7_5
Download citation
DOI: https://doi.org/10.1007/978-3-030-27529-7_5
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27528-0
Online ISBN: 978-3-030-27529-7
eBook Packages: Computer ScienceComputer Science (R0)