Computer aided simulation for workspace plot of a newly designed inspection robot

Abstract

Robots have occupied an important role for themselves in our everyday life. Recent advanced robots are capable to do the various complex responsibilities as manufacturing of precise components, Space exploration, nuclear equipment installations and inspection etc to the regular responsibilities as palletizing, pick and place operations. The robots are established to do the given task in the 3-D space. The manipulator and the end-effector of the robot are accurately designed in such a way that it follows the desired path or track within its manipulating environment. For precise and accurate working condition of the robot, the control over each links and joints is to be ensured. The position and different orientation of the robot's end-effector should be accurately controlled to attain the regular working of the robot. The constant scientific model is essential to specify the motion of the end effector and joint-links. This kind of scientific model is called Kinematic Model of the robot mechanism. Mechanical modelling and simulation is an important feature in the robotic field. Significant of the workspace is important to the maneuver of manipulators arm. This paper compacts with the workspace analysis for a newly designed robot for inspection of weldments existing in the steel storage tank canister circumferences with the help of recent NonDestructive Testing (NDT) facility mounted on the end-effector.