Table 2 Parameters of force analysis
From: Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank
Symbol | Implication | Value |
|---|---|---|
Gr | Gravity of the robot | ≤ 200 N |
FN1, FN2 | Support force from wall | ‒ |
Ff1, Ff2 | Static friction | ‒ |
FAT, FAN | Force from cantilever | ‒ |
μ | Sliding friction coefficient between rubber and steel | 0.6 |
G2 | Gravity of the cantilever | ≤ 80 N |
L | Length between the front and rear wheels of the robot | 492 mm |
h | Height of the gravity center of the robot | 80 mm |
H | Height of the robot | 180 mm |