Computer Aided Modelling and Static Analysis of an Inspection Robot


Article Preview

This paper describes the method for computer aided modelling of the newly designed robot with the aid of 3D modelling software. The static analysis of the designed robot also done by using the analysis software. The conventional design procedures of the elements of the mechanical configurations of the robot base and arm explained in exhaustive manner. Nuclear waste storage steel canisters are often required regular maintenance and surface inspection in order to ensure the goodness of the canisters. In this research work also the designed robot is doing the same task with the help of NDT system available at the end of the arm. However, these types of robot manipulators suffer from different payload capacity and relatively some amount of end point deflections. Through the static analysis the stability of the robot manipulator is proved. 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 knuckle joints and screw jack mechanisms at the base gives the higher order of degree of freedom when compare with currently available robots.



Edited by:

K. Palanikumar




G. Shanmugasundar et al., "Computer Aided Modelling and Static Analysis of an Inspection Robot", Applied Mechanics and Materials, Vols. 766-767, pp. 1055-1060, 2015

Online since:

June 2015




[1] K. Jayarajan, A. Dutta, D.C. Kar, R. Sahu, D.G. Zende, T.K. Bhaumik, D. Venkatesh and M.S. Ramakumar, (2005) Design of a Telemanipulator for Radioactive Waste Management , Asia Pacific Conference on Risk Management and Safety.

[2] Luk B.L., Collie A.A., Cooke D.S., and Chen.S., (2005). Walking and Climbing Service Robots for Safety Inspection of Nuclear Reactor Pressure Vessels,. University of Southampton.


[3] FeiYanqiong., Song Libo., (2008). Design and Analysis of Modular Mobile Robot with Magnetic Wheels, Transactions on Applied and Theoretical Mechanics ISSN: 1991-8747 902 Issue 12, Volume 3. pp.80-90.

[4] X.G. Fu., G.Z. Yan., B. Yan., H. Liu., (2005). A new robot system for auto-inspection of intersected welds of pipes used in nuclear power stations", Springer-verlag London limited.


[5] Korayem. M. H., Ahmadi. r., Jaafari n., Jamali y., and Kiomarsi. m., (2014) Design, modeling, implementation and Experimental analysis of 6R robot,. Archive of SID, Volume 21, Feb 2008, PP 71 – 84.

[6] Saeed B. Niku. (2014) Introduction To Robotics, pp.57-76, Prentice Hall.

[7] G. Shanmugasundar, R. Sivaramakrishnan, (2012) A Survey on Development of Inspection Robots: Kinematics Analysis, Workspace Simulation and Software Development, International Review Of Mechanical Engineering, Vol 6. N 7, pp.1493-1507.

[8] R K Mittal and I J Nagrath, (2014) ROBOTICS AND CONTROL, by published by Tata McGraw Hill.

[9] G. Shanmugasundar, R. Sivaramakrishnan, (2012), Modelling, Design and Static Analysis of Seven Degree of Freedom Articulated Inspection Robot ", Applied materials research, Vol. 655-657, pp.1053-1056.