Dynamics modeling of a new type of magnetically driven spherical wrist

Xiaoxi Guo; Yongshun Zhang; Zihao Zhao

doi:10.1117/12.3007221

25 October 2023 Dynamics modeling of a new type of magnetically driven spherical wrist

Xiaoxi Guo, Yongshun Zhang, Zihao Zhao

Proceedings Volume 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023); 128011O (2023) https://doi.org/10.1117/12.3007221
Event: Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 2023, Dalian, China

Abstract

In order to meet the requirements of wrist flexibility with variable stiffness in unstructured environment, a permanent magnetic spherical robot joint wrist is proposed based on the fixed axis effect of magnetic field rotation, aiming at the existing problems of complex spherical Specifically, it is a kind of robot spherical wrist device that can realize sidesway and pitch rotation of two degrees of freedom through the radial magnetized permanent magnet built in the servo mechanism at the output end of the cross universal rotation magnetic field under the direct drive of the coaxial servo magnetic moment of the space universal rotation magnetic Due to the uniform rotation magnetic field drive, the magnetic field Due to the uniform rotation magnetic field drive, the magnetic field modeling and magnetic moment decoupling can be realized, It is expected to overcome the disadvantages It is expected to overcome the disadvantages of traditional mechanical wrist, such as complex transmission and nonlinear friction, and significantly improve the response sensitivity and In this paper, the dynamic equation is established, the dynamic characteristics are simulated, and the feasibility of the magnetic driving ball wrist scheme with rotating fixed axis effect is verified.

Citation Download Citation

Xiaoxi Guo, Yongshun Zhang, and Zihao Zhao "Dynamics modeling of a new type of magnetically driven spherical wrist", Proc. SPIE 12801, Ninth International Conference on Mechanical Engineering, Materials, and Automation Technology (MMEAT 2023), 128011O (25 October 2023); https://doi.org/10.1117/12.3007221

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available