Consider the following proposed robot wrist. Note that the wrist output link is the inner race...

Transcribed Image Text:

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.

Answer rating: 100% (QA)

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