Consider the following proposed robot wrist. Note that the wrist output link is the inner race...
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Consider the following proposed robot wrist. Note that the wrist output link is the inner race of a ball bearing, which together with the outer race link forms a revolute joint. There is a universal joint inside the wrist, connecting it to the wrist twist input. The three inputs are shown in red. Analyze this mechanism using Grbler's equation, including a discussion (and remediation) of redundant constraints (e.g. double R-joints on yokes), if found. Be careful to include all necessary joints to achieve 3-DOF motion. For example, it isn't clear if the inputs are P or C joints. Construct a simple Solidworks model of this wrist and verify that you can actuate all three wrist DOF's via grounded/parallel actuation. Figure 1: A 3-DOF parallel wrist mechanism. Consider the following proposed robot wrist. Note that the wrist output link is the inner race of a ball bearing, which together with the outer race link forms a revolute joint. There is a universal joint inside the wrist, connecting it to the wrist twist input. The three inputs are shown in red. Analyze this mechanism using Grbler's equation, including a discussion (and remediation) of redundant constraints (e.g. double R-joints on yokes), if found. Be careful to include all necessary joints to achieve 3-DOF motion. For example, it isn't clear if the inputs are P or C joints. Construct a simple Solidworks model of this wrist and verify that you can actuate all three wrist DOF's via grounded/parallel actuation. Figure 1: A 3-DOF parallel wrist mechanism.
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To analyze the proposed robot wrist mechanism using Grublers equation and address the potential redundant constraints we need to consider the followin... View the full answer
Related Book For
Automation Production Systems and Computer Integrated Manufacturing
ISBN: 978-0132393218
3rd edition
Authors: Mikell P.Groover
Posted Date:
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