The Design of Legged Mobile Welding Robot
The mobility of wheeled or orbital mobile welding robot is constrained by obstacles, uneven terrain or orbit. A new legged mobile welding robot which can surmount obstacles and move freely on uneven terrain is presented in this paper. This robot is the combination of a hexapod robot and a six DOF manipulator. Each leg of the hexapod robot is a three DOF parallel mechanism which has excellent load bearing capability. The manipulator is a PRPRRR mechanism which is characterized by motion decoupling. Inverse kinematic model of this robot is built, and workspace analysis is presented. Then, motion simulation of a typical welding workflow is delineated.
KeywordsLegged robot Mobile welding robot Inverse kinematic Workspace analysis Motion simulation
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