Computer Aided Stress and Deflection Analysis of Inspection Robot at Different Postures

摘要

In the current automated high-tech world the applications and use of robot has become the vital role in all areas in industries and in common social applications. The mechanical design process essentials to improve and also it is a way to capable of giving consistent and fast efficient products. One way of altering the process is through reducing the manual work by systematizing the repetitive tasks using static analysis ways in the computer software. With a view to meet the purpose of inspecting the outer surface weldments in steel storage canister used to store the High-level fuel waste at nuclear industry with the help of Non-destructive testing (NDT) equipment. In this research work the new mechanical configuration of the robot arm was designed, and this arm was utilized to carry the vision camera at the end effector to capture the weld surfaces. This paper focuses the mechanical modeling of the manipulator mechanism and finite element (FE) method and analysis of the designed arm with different positions and specific load condition. From this study the statically balanced design of the robot was determined with three different positional conditions. The largest value of displacement and stress produced in the arm also discussed with clear FEA simulation results. In this paper mechanism of seven degrees of freedom robot arm is discussed.