Computer Modeling and Topology Analysis of Controllable Metamorphic Ship Welding Manipulator
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DOI: 10.25236/icemit.2019.027
Author(s)
Zhengqiang Guo, Yuchen Pan, Xuepeng Yuan
Corresponding Author
Yuchen Pan
Abstract
A new controllable metamorphic ship welding manipulator based on multi loop coupling structure is designed and its structure is modeled by computer. The topological analysis is carried out by using bichromatic topological graph and adjacency matrix, and then we can obtain the metamorphic principle of its closed-chain mechanism, and reveale the configuration evolution process. The modified Grübler-Kutzbach formula is used to analyze the degree of freedom in different configurations. Then obtained the corresponding effective configurations, which are suitable for free welding, local welding, horizontal welding and vertical welding respectively. Based on metamorphic principle and the process of configuration evolution, the kinematic chain topology of multi-degree-of-freedom controllable metamorphic mechanism can be obtained by computer software analysis. This kind of variable topology mechanism can also provide reference for the innovative design of other construction machinery.
Keywords
Ship welding manipulator, metamorphic mechanism, computer modeling, topology analysis, software analysis