Analysis on workspace of quasi 7-DOF robot based on SG chamber constraint

Author

Liquan, Wang ; Jianrong, Wu ; Dedong, Tang ; Yulong, Liu

Author_Institution

Sch. of Mech. & Electr. Eng., Harbin Eng. Univ., Harbin

fYear

2008

fDate

2-4 July 2008

Firstpage

2891

Lastpage

2895

Abstract

A novel 6R robot under the help of propulsion plant enters into quarter-spherical chamber of steam generator (SG) with seven axes moving. It is fixed on the tube sheet depending on cam locks of its one end, and then its other end departs from the propulsion plant and operates with tools. The determination of feasible setting area is absolutely necessary for operation planning, which is a problem of workspace analysis involving complicated obstacles and end-effecter pose constraints. The paper divided these constraints into three categories: independent joint variable constraints, inequality constraints and equality constraints, and gave the general expression of constrained workspace; provided a numerical method based on random probability to solve the constrained workspace; concluded the feasible setting area of installation and solved the practical problem of engineering.

Keywords

boilers; end effectors; industrial robots; planning; probability; random processes; 6R robot; end-effecter pose constraints; operation planning; propulsion plant; quasi 7-DOF robot; random probability; steam generator; Genetic expression; MATLAB; Nuclear power generation; Power engineering and energy; Power generation; Propulsion; Robots; Monte Carlo Method; Robot; Workspace;

fLanguage

English

Publisher

ieee

Conference_Titel

Control and Decision Conference, 2008. CCDC 2008. Chinese

Conference_Location

Yantai, Shandong

Print_ISBN

978-1-4244-1733-9

Electronic_ISBN

978-1-4244-1734-6

Type

conf

DOI

10.1109/CCDC.2008.4597853

Filename

4597853