The Design Of A New Type Of Anthropomorphic Wrist Joint

With the wide use of the mechanical arm,the types of mechanical arms are increasing,the performance is also constantly improving,and gradually becoming intelligent.Therefore,it is necessary to continuously improve and improve the structure of the mechanical arm so that the mechanical arm can function better.Based on a new type of 6-DOF serial-hybrid robotic arm,this paper designs a new type of anthropomorphic wrist joint,which adopts a three-degree-offreedom parallel mechanism.And the main research contents and results of the thesis are as follows:(1)Analyze the structural characteristics of the entire arm and wrist joints,in order to meet the position and posture requirements of the arm,select the 3-UPS/S parallel mechanism as the mechanical prototype of the wrist joint,using screw theory verification institutions of freedom,and complete the 3 d modeling of wrist joint institutions;(2)Solving the position resolving expression of the wrist joint mechanism,analyzing the relationship between the working space size of the mechanism and its size parameter,and drawing a working space map of the wrist joint mechanism;(3)On the basis of position resolving,the speed and acceleration of the wrist joint mechanism are analyzed,the velocity Jacobian matrix is obtained,the kinematic performance index of the wrist joint mechanism is defined,and the performance map of the index is drawn;then the static analysis of the mechanism is performed.Based on the principle of virtual work,the static equation is established,the force Jacobian matrix is solved,the static performance index of the wrist joint mechanism is defined,and the performance spectrum of the index is drawn;(4)To define the global kinematic performance index and global static performance index of the wrist joint mechanism,and use the spatial model technology to analyze the influence of the main size parameters of the wrist joint mechanism on various global performance indicators,and use the principal component analysis method in the space model technology.Based on the multi-objective parameters optimization of the wrist joint mechanism,the optimized size parameters are obtained,and the prototype is produced.In this paper,the parameters of the new wrist joint mechanism are optimized,and the dimensional parameters optimized by the mechanism are obtained,which lays a foundation for the prototype of the whole anthropomorphic manipulator.