NDLI: Dynamic analysis of a three-axis robot wrist and optimization of its structure

Content Provider	IEEE Xplore Digital Library
Author	Dae Sun Hong U-il Jang Jung-Hee Kwon
Copyright Year	2010
Description	Author affiliation: Dept. of Mechanical Design and Manufacturing Engineering, Changwon National University, Changwon, Gyeongnam, Republic of Korea (Dae Sun Hong; U-il Jang; Jung-Hee Kwon)
Abstract	A Multi-axis wrist as an end effecter of an industrial robot provides high flexibility to perform various tasks such as welding, cutting, painting and others. Recently, a new three-axis wrist has been developed for gantry-type robots whose payload is 250N. In designing such a wrist, structure analysis including statics and dynamics should be carried out to guarantee the performance of the wrist motion, also structure optimization is needed for reducing its weight. For the purpose, this paper presents a method of both the structure analysis and the optimization for the three-axis wrist. Firstly, dynamic analysis is carried out to find the wrist position yielding the maximum external torque. Also, static analysis is carried out to find the stress distribution and deformation under the maximum external torque. Secondly, optimization using a genetic algorithm is carried out to reduce the wrist weight. Specifically, the thicknesses of three pads constituting the upper body are selected as the design variables. The structure analysis results show that the three-axis wrist designed satisfies the design criteria, also the optimization result shows that the weight of the wrist designed can be reduced to a degree while satisfying the condition of the allowable stress.
Starting Page	773
Ending Page	777
File Size	2176153
Page Count	5
File Format	PDF
ISBN	9781424476428
e-ISBN	9784907764364
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-18
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	SICE
Subject Keyword	genetic algorithm Three-axis wrist structure analysis optimization
Content Type	Text
Resource Type	Article

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