Stewart-platform-based inlet duct painting system

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.<>