Papers by Keyword: Tripod Parallel Universal Wrist

Abstract: A new type of 5-DOF drill grinder based on the tripod parallel universal wrist is introduced. Due to the simple mechanical structure comparing the grinder with the existing conventional CNC machine tools, it should be easy for the PKM to manufacture at a low cost. Aiming to solve the problems of selection of driving motor parameters for this series-parallel hybrid drill grinder, the three-dimensional entity model of this machine tool is established by means of UG software, and then the assembly model is introduced into ADAMS/View. The dynamic simulation is conducted and the driving forces of all driving links are found. The dynamic properties of the drill grinder are thus obtained, which provided an important reference to the selection of motor.

Abstract: The prototype of a new 3-DOF tripod parallel universal wrist was developed. Its structure, characteristics and applications were introduced. The inverse kinematics model was established by the vector and kinematics influence coefficient method. The schematic diagram of simulation was established through the software — MATLAB/Simulink. Based on the above model and diagram, the inverse kinematics simulation was made. The simulation curves under different initial conditions about angle, acceleration, velocity, displacement varying as time processed can intuitively reflect the kinematic relation between the parallel bars and the moving platform of this mechanism and this is valuable and significative for the further research.