2008•Unpublished venueRequires access
On kinematics of a flexible inspection robot
Ying Hu, Defeng Wu
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Abstract
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.