Table 3 Equation parameters
From: Support and Positioning Mechanism of a Detection Robot inside a Spherical Tank
Parameter | Value |
|---|---|
Radius of the working spherical tank R (mm) | 7850 |
Height of the robot hr (mm) | 180 |
Initial length of the spring lk (mm) | 270 |
Initial length of the cantilever lx | ‒ |
Axial stiffness of the cantilever kx (N/mm) | 5984.04 |
Horizontal stiffness of the column ks (N/mm) | 18.3 |
Spring stiffness k (N/mm) | 10 |