In order to solve the problems of low radial deviation measurement accuracy, dangerous operation and low efficiency in traditional oil tank calibration methods, a small vertical metal tank wall climbing calibration robot was developed. The robot adopts a permanent magnetic adsorption three-wheel structure, and the measurement and control system is based on the single-chip microcomputer 89邪1, and is equipped with a variety of sensors, and is remotely controlled by cable. Field experiments show that the robot has a high degree of automation and accurate radial deviation measurement, which greatly improves the efficiency and accuracy of oil tank calibration. Keywords: vertical metal wall climbing robot, posture control algorithm, side control system
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