On kinematics of a flexible inspection robot

Author

Ying, Hu ; Defeng, Wu

Author_Institution

Autom. Res. Center, Dalian Maritime Univ., Dalian

fYear

2008

fDate

16-18 July 2008

Firstpage

286

Lastpage

289

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/CHICC.2008.4604921

Filename

4604921