Optimal design and workspace analysis of a mobile welding robot with a 3P3R serial manipulator

Title
Optimal design and workspace analysis of a mobile welding robot with a 3P3R serial manipulator
Author(s)
서태원이동훈[이동훈]김종원[김종원]
Keywords
PARALLEL MANIPULATORS; MECHANISMS
Issue Date
201110
Publisher
ELSEVIER SCIENCE BV
Citation
ROBOTICS AND AUTONOMOUS SYSTEMS, v.59, no.10, pp.813 - 826
Abstract
This paper presents the design optimization of a mobile welding robot based on the analysis of its workspace. A welding robot has been developed to be used inside the double-hull structure of ships, and it shows good welding functionality. But there is a need to optimize the kinematic variables ensuring that the required welding functions inside the ships are satisfied. The task-oriented workspace, which is the workspace enabling specific rotations, has been defined in order to validate the welding ability of the robot, and incorporating the required rotational capabilities. To calculate the workspace, a geometric approach is adopted which considers the pitching and yawing angles simultaneously. Based on the workspace analysis, a scenario is compiled for considering a mass reduction, and a ratio between the design parameters and the workspace, with constraints on the workspace margins. The proposed optimization procedure is composed of two steps of coarse and fine searching. In the coarse searching step, a feasible parameter region (FPR) is defined, which satisfies the geometrical design constraints, and can be obtained without any considerations of the objective functions. In the fine searching step, the design parameters are determined by using the optimization technique of the conjugate gradient method in the overall FPRs. The suggested approach to calculating the task-oriented workspace, and the procedure of optimal design, are expected to be applied to general industrial robots. (C) 2011 Elsevier B.V. All rights reserved.
URI
http://hdl.handle.net/YU.REPOSITORY/24382http://dx.doi.org/10.1016/j.robot.2011.06.004
ISSN
0921-8890
Appears in Collections:
공과대학 > 기계공학부 > Articles
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