Harmonic analysis of wrist mechanism of robot manipulator

International Conference on Advances in Materials and Manufacturing Applications 2016

Akbar, Shaik^1 ; Navuri, Karteek^2 ; Eswara Kumar, A.^3 ; Prakash, D.^1

Department of Mechanical Engineering, V. R. Siddhartha Engineering College, Vijayawada

A.P, India^1

Department of Mechanical Engineering, Dhanekula Institute of Engineering and Technology, Ganguru, Vijayawada

A.P, India^2

Department of Mechanical Engineering, K L University, Vaddeswaram, A.P, Guntur, India^3

关键词: 3D composites;    Ansys workbenches;    Carbon-epoxy;    Dynamic behaviours;    Harmonic loads;    Robot manipulator;    Weight reduction;    Wrist mechanism;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/149/1/012143/pdf
DOI  :  10.1088/1757-899X/149/1/012143

来源: IOP

【 摘 要 】

Wrist mechanism is a part of robot manipulator which is used to provide the pitch and yaw motions to the end effectors for orienting the loads carried by the end effectors. The wrist mechanism is subjected to different types of vibrations because of the various working conditions. Due to these vibrations wrist mechanism experience higher deformations and stresses; this causes failure of wrist mechanism. It is important to study the dynamic behaviour of the wrist mechanism under different loads before adopting in the application. The structure of the wrist mechanism is modelled in the ANSYS Workbench software and analysed for harmonic loads. Proper boundary conditions, mesh and connections between links& pins are assigned to the wrist mechanism assembly. From the present work, peak deformations of links and pins are occurred at 569.83Hz. Further, the link are analysed with 3D composites those are carbon epoxy and E-glass epoxy. It is observed that carbon epoxy shows better stiffness than E-Glass epoxy and it has weight reduction of 13.76% compared with metals.