Analysis of the Movement Mechanism of the In-oil Storage Tank Floor Inspection Robot

The robotic technology of in-oil tank inspection has irreplaceable advantages and broad application prospects. Based on the in-oil storage tank floor inspection task, we analyze the movement mechanism of wheel type and crawler type robot motion modes. We obtain guiding formulas that enable the two kinds of tank floor inspection robots to achieve stable motion and bring in the design parameters for theoretical calculations. Finally, we verify the correctness of the theoretical derivation results through virtual simulation. The movement mechanism analysis method proposed in this paper will provide theoretical guidance for the design of the in-oil storage tank floor inspection robot.