DocumentCode
1863726
Title
Stewart-platform-based inlet duct painting system
Author
Liu, K. ; Glenn, R. ; Lawley, T.J. ; Lewis, F.L.
Author_Institution
Texas Univ., Arlington, TX, USA
fYear
1993
fDate
2-6 May 1993
Firstpage
106
Abstract
A special in-pipe robotic system, the Stewart-platform-based inlet duct painting system (SPPS), is proposed. The system consists of three isolated subsystems: the mobile base, the Stewart platform, and the painting manipulator. It can automatically navigate in an inlet duct which has large irregular noncircular cross sections. The SPPS is needed in painting tasks in the air inlet duct of an aircraft which are costly and hazardous for humans. It also can be used as a pipeline robot to monitor and repair inlet duct interiors
Keywords
mobile robots; spray coating techniques; SPPS; Stewart-platform-based inlet duct painting system; air inlet duct; aircraft; in-pipe robotic system; large irregular noncircular cross sections; maintenance; mobile base; monitoring; painting manipulator; pipeline robot; repair; Arm; Ducts; Manipulators; Mobile robots; Painting; Pipelines; Robotics and automation; Service robots; Stability; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location
Atlanta, GA
Print_ISBN
0-8186-3450-2
Type
conf
DOI
10.1109/ROBOT.1993.291969
Filename
291969
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