On Kinematics of a Flexible Inspection Robot

被引：0

作者：

Hu Ying ^{[1
]}

Wu Defeng ^{[1
]}

机构：

[1] Dalian Maritime Univ, Ctr Automat Res, Dalian 116026, Peoples R China

来源：

PROCEEDINGS OF THE 27TH CHINESE CONTROL CONFERENCE, VOL 5 | 2008年

关键词：

Inspection robot; Virtualprototype; Kinematics; DELTA parallel manipulator;

D O I：

10.1109/CHICC.2008.4604921

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A flexible on- line 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 virtualprototype was also built. Simulation results in ADAMS and MATLAB demonstrate the correctness of virtualprototype model and inverse kinematics model. It is important to the future work.

引用

页码：286 / 289

页数：4