Optimization and Redesign of a Spherical Wrist for a Water Hydraulic Manipulator
Orona, Luis Miguel (2011)
2011
Master's Degree Programme in Machine Automation
Automaatio-, kone- ja materiaalitekniikan tiedekunta - Faculty of Automation, Mechanical and Materials Engineering
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Hyväksymispäivämäärä
2011-09-07
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tty-2011091414801
https://urn.fi/URN:NBN:fi:tty-2011091414801
Tiivistelmä
Robot arm manipulators have a wrist to change the orientation of its end-effector. Since the wrist is located at the end of the robot arm, as the wrist in a human arm, its weight has a big influence in the dynamics of the robot. This is because a large weight represents large inertial forces for the arm actuators.
This thesis presents the redesign and optimization of a spherical wrist for a Water Hydraulic MANipulator (WHMAN), having as a major objective reducing the size and weight of the wrist. The wrist has three actuators in order to have three degrees of freedom; these are water hydraulic rotary vane actuators.
The redesign process was divided into two parts. First the redesign of the vane actuators; for this part is explained theory regarding these actuators and the equations to calculate their characteristics are defined. Also is developed and reported an approach to define the requirements and to size the water hydraulic vane actuators. Second part is the redesign of the wrist; the components of the new wrist are shown and the improvements in the design are explained.
This mechanical redesign was validated with Finite Element Method (FEM) analyses, their results are presented. With this redesign work the wrist structure is more compact and weights less (about 50%). Also the dexterity of the WHMAN is improved by reducing the hand length on the wrist. /Kir11
This thesis presents the redesign and optimization of a spherical wrist for a Water Hydraulic MANipulator (WHMAN), having as a major objective reducing the size and weight of the wrist. The wrist has three actuators in order to have three degrees of freedom; these are water hydraulic rotary vane actuators.
The redesign process was divided into two parts. First the redesign of the vane actuators; for this part is explained theory regarding these actuators and the equations to calculate their characteristics are defined. Also is developed and reported an approach to define the requirements and to size the water hydraulic vane actuators. Second part is the redesign of the wrist; the components of the new wrist are shown and the improvements in the design are explained.
This mechanical redesign was validated with Finite Element Method (FEM) analyses, their results are presented. With this redesign work the wrist structure is more compact and weights less (about 50%). Also the dexterity of the WHMAN is improved by reducing the hand length on the wrist. /Kir11