Advertisement

The Design of Legged Mobile Welding Robot

  • Yuan Hu
  • Weizhong GuoEmail author
  • Feng Gao
  • Hao Chen
Conference paper
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 584)

Abstract

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.

Keywords

Legged robot Mobile welding robot Inverse kinematic Workspace analysis Motion simulation 

References

  1. 1.
    Yang, B.J., Sang, B.K.: Modeling and motion control of mobile robot for lattice type welding. KSME Int. J. 16(1), 83–93 (2002)MathSciNetCrossRefGoogle Scholar
  2. 2.
    Lee, D., et al.: Development and application of a novel Rail Runner mechanism for double hull structures of ships. In: 2008 IEEE International Conference on Robotics and Automation, vol. 1–9, p. 3985 (2008) Google Scholar
  3. 3.
    Mulligan, S., et al.: Autonomous welding of large steel fabrications. Ind. Rob. 32(4), 346–349 (2013)CrossRefGoogle Scholar
  4. 4.
    Dharmawan, A.G., et al.: Robot base placement and kinematic evaluation of 6R serial manipulators to achieve collision-free welding of large intersecting cylindrical pipes. In: ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (2015)Google Scholar
  5. 5.
    Ceccarelli, M., et al.: HeritageBot service robot assisting in cultural heritage. In: IEEE International Conference on Robotic Computing (2017)Google Scholar
  6. 6.
    Yang, P., Gao, F.: Leg kinematic analysis and prototype experiments of walking-operating multifunctional hexapod robot. Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci. 228(12), 2217–2232 (2014)MathSciNetCrossRefGoogle Scholar
  7. 7.
    Pan, Y., Gao, F.: Kinematic performance analysis for hexapod mobile robot using parallel mechanism. In: ASME 2014 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers (2014)Google Scholar

Copyright information

© CISM International Centre for Mechanical Sciences 2019

Authors and Affiliations

  1. 1.State Key Laboratory of Mechanical Systems and Vibration, School of Mechanical EngineeringShanghai Jiao Tong UniversityShanghaiChina

Personalised recommendations