Design, Fabrication and Control of a New Type of The Omnidirectional Spherical Wrist

Q: How can I download an article?

To download an article from SID, first log in to the site, search for the article title, and click on the 'Download Article' option.

Q: How can I download an ISI article?

To download an ISI article on SID, enter the keyword or article title in the search bar, view the relevant results, click on the desired article, and select the 'Download Article' option.

Q: How can I access the SID database?

To access the SID database, visit SID.ir, create an account, and log in to access scientific resources.

Q: Is downloading articles from SID free?

Some articles on SID are available for free, while others require payment. Details are specified on the article's page.

Aris H.; AHMADI H.; Abdolmohammadi M.

مرکز اطلاعات علمی Scientific Information Database (SID) - Trusted Source for Research and Academic Resources

Journal Paper

Paper Information

Journal: JOURNAL OF SOLID AND FLUID MECHANICS Year:2018 | Volume:8 | Issue:2 Page(s): 1-11

Download Full-Text

Persian Verion

View:

256

Download:

Cites:

Information Journal Paper

Title

Design, Fabrication and Control of a New Type of The Omnidirectional Spherical Wrist

Author(s)

Aris H. | AHMADI H. | Abdolmohammadi M. | Issue Writer Certificate

Keywords

Forward KinematicQ2

Inverse KinematicQ1

Wrist MoldingQ1

Wrist FabricationQ1

Spherical WristQ1

Abstract

In this paper, a new type of spherical has been fabricated by involute axes in the form of conical gears that can create an unlimited revolution for wrist without singularity. This wrist has the special ability due to its structure and mechanism to use robots for high precision applications and continuous movements without singularity. According to the drawings, the manufacturing of the model for molding and casting of pieces is carried out and then by machining, the dimensions of the parts are achieved to the standard of drawing. After the assembly, the mechanical work pieces are prepared. The direct and Inverse Kinematics of the involute angles are obtained for the directions of the wrist. Also, according to the kinematics of the robot, the position of the end-effector is calculated. At first, Matlab software is used to simulate the wrist model and also the experimental test is done for validation. At the end, the PD controller is designed to control the yaw, roll and pitch angles and the changes necessary to improve the wrist control have been applied in the controller and AVR-based microcontrollers. Finally, simulation results are verified through theoretical and experimental test.

Cites

No record.

References

No record.

Cite

APA: Copy

Aris, H., AHMADI, H., & Abdolmohammadi, M.. (2018). Design, Fabrication and Control of a New Type of The Omnidirectional Spherical Wrist. JOURNAL OF SOLID AND FLUID MECHANICS, 8(2 ), 1-11. SID. https://sid.ir/paper/393507/en

Vancouver: Copy

Aris H., AHMADI H., Abdolmohammadi M.. Design, Fabrication and Control of a New Type of The Omnidirectional Spherical Wrist. JOURNAL OF SOLID AND FLUID MECHANICS[Internet]. 2018;8(2 ):1-11. Available from: https://sid.ir/paper/393507/en

IEEE: Copy

H. Aris, H. AHMADI, and M. Abdolmohammadi, “Design, Fabrication and Control of a New Type of The Omnidirectional Spherical Wrist,” JOURNAL OF SOLID AND FLUID MECHANICS, vol. 8, no. 2 , pp. 1–11, 2018, [Online]. Available: https://sid.ir/paper/393507/en

Related Journal Papers