Design and Kinematics Analysis of the Continuous 3R Oblique Axis Non-Spherical Wrist

摘要

Based on the analyses of robot wrist structure and the requirements of spray painting for car,the conceptual design of a hollow oblique axis non-spherical 3R wrist is put forward.The wrist shell is constituted of two reducer pipes and a flange,and the internal structure of the wrist is three mechanical transmission lines composed of hollow bevel gears,spur gears and axes.With the cramped construction and great flexibility ratio,the wrist can be in any orientation in three-dimensional space.At the same time,via the method of matrix analysis,the kinematics modeling is set up and workspace is analysed for the wrist.And the kinematics simulation is completed with automatic dynamic analysis of mechanical systems(ADAMS)software.The results of simulation are consistent with the theoretical values,so the scheme for the wrist structure is feasible.