Title :
On kinematics of a flexible inspection robot
Author :
Ying, Hu ; Defeng, Wu
Author_Institution :
Autom. Res. Center, Dalian Maritime Univ., Dalian
Abstract :
A flexible online inspection robot configuration for digital processing was presented. The original points of the proposed configuration include follows.It is a hybrid robot which is combined by a DELTA parallel manipulator and a two degrees-of-freedom(dof) serial mechanism, and its end effector is with laser scanning head. The robot can implement 3D surface inspection in restricted space without blind points due to its flexible structure. The inverse kinematics model was established and a kinematics virtual prototype was also built. Simulation results in ADAMS and MATLAB demonstrate the correctness of virtual prototype model and inverse kinematics model. It is important to the future work.
Keywords :
end effectors; flexible manipulators; inspection; manipulator kinematics; virtual prototyping; DELTA parallel manipulator; digital processing; end effector; flexible online inspection robot; inverse kinematics model; laser scanning head; virtual prototype model; End effectors; Flexible structures; Inspection; Kinematics; Laser modes; MATLAB; Manipulators; Orbital robotics; Parallel robots; Virtual prototyping; DELTA parallel manipulator; Inspection robot; Kinematics; Virtualprototype;
Conference_Titel :
Control Conference, 2008. CCC 2008. 27th Chinese
Conference_Location :
Kunming
Print_ISBN :
978-7-900719-70-6
Electronic_ISBN :
978-7-900719-70-6
DOI :
10.1109/CHICC.2008.4604921
