Computer Aided Modelling and Design of Mechanical Configuration of an Inspection Robot
Robots are playing a vital role in now a day in the field of manufacturing and component inspection. In general the hazardous environments as nuclear waste disposal, robots are really a high demand machine as an implementation of automation concepts that helpful to rectify the human errors and give more safety. In a view to meet such needs, this paper features the optimized new design of mechanical configuration of the robot suitable for inspection of outer surface welds present in the steel storage canister at nuclear industry with the help of NDT equipment. The effective utilization of universal joints and screw jack mechanisms at the base gives the higher order of degree of freedom when compare with currently available robots. The selection of the mechanical components and its comparison with the existing method is explained in brief. This paper describes the successive design calculations of major elements of manipulator. Generally, the purpose of this paper is to describe the importance of computer aided modelling of a robot mechanism and also state the advantage of development of software coding for difficult manual design. The MATLAB program was utilized to perform the automatic design calculation of manipulator Parts which gives the added advantage for this research effort.
G. Shanmugasundar et al., "Computer Aided Modelling and Design of Mechanical Configuration of an Inspection Robot", Applied Mechanics and Materials, Vols. 766-767, pp. 1015-1020, 2015