Design and Kinematics Analysis of Oblique Axis Non-spherical 3R Wrist

摘要：

A kind of novel hollow oblique axis non-spherical 3R wrist with inner-duct was designed to protect the lines going through the duct, such as paint tube, solvent tube, shaped-air tube and so on, from being knotted or broken during spray painting of car body. With compact structure and great flexibility, the wrist could realize three continuous rotational motions. Also, the kinematics analysis of this kind wrist was conducted. Equations of forward kinematics and inverse kinematics were deduced. Furthermore, simulation of kinematics was made to validate the feasibility of design scheme with ADAMS (Automatic Dynamic Analysis of Mechanical Systems) software. The simulation results were found to be in agreement with the theoretical calculation.

关键词： oblique axis non-spherical wrist kinematics analysis simulation spray painting

作者: Zhanzhong Wang Dawei Zhang Hongzhi Han Zhanzhong Wang

作者单位: School of Mechanical Engineering Tianjin University Tianjin, 300072, China School of Mechanical Engineering Shijiazhuang Railway Insititute Shijiazhuang 050043, China

会议类型: 国际会议

会议名称: 2007 IEEE International Conference on Automation and Lofistics

会议地点: 山东济南

会议语种:英文

在线出版日期: 2007-08-18（万方平台首次上网日期，不代表论文的发表时间）