joints for anthropomorphic manipulator

[Quacy]

Hi guys! For an examination at university we are designing an anthropomorphic manipulator with solid works and ansys. our robot consists of two arms with rectangular hollow section. I wanted to know if you had designs, models and tips for designing and modeling joints and joints between the various arms. Is it okay to use solid works or is it not suitable?

 

[Fulvio Romano]

How does a two-arm system be anthropomorphic? by "antropomorph" means a structure to three arms.

the joints... immagine you want to put an electric motor and a gearbox. . .
as a robot reducer typically use harmonic drive o cyclo driveto understand a structure try to look here:
http://www.abb.com/product/it/9aac100735.aspxp.s.
With only two arms, what kind of cinematic analysis do you want to do? solid works is fine, but paper and pencil is equally good.

 

[Quacy]

but as a third arm you mean the basic one? regarding the joints why on the internet are not found detailed designs or models of the interior? until now I found only rough schematizations or images of the outside.. .

 

[Fulvio Romano]

but as a third arm you mean the basic one? regarding the joints why on the internet are not found detailed designs or models of the interior? until now I found only rough schematizations or images of the outside.. .

to avoid confusion, we avoid the term "arm" that in robotics does not mean a patch.

a joint is something that moves, a link is a fixed piece that unites two joints.

Why don't you find the constructors on the internet? Who knows?

What do you have to do?

you're looking for "design drawings, models and advice", do we start with the tips?

first, size, speed, acceleration and payload of the arm. then precision to reach.

therefore stresses the joints. at this point you know the reduction ratio. the reducer you want to size and design or dimension and choose to catalog, which is perhaps better?

 

[MBT]

regarding the joints why on the internet are not found detailed designs or models of the interior? until now I found only rough schematizations or images of the outside.. .

mha... sarà forse segreto industriale?

 

[Tequila]

mha... sarà forse segreto industriale?

I would like the technical details and drawings of the formula one ferrari but do not find them ... and once they had copied them

 

[MBT]

I would like the technical details and drawings of the formula one ferrari but do not find them ... and once they had copied them

I'll send them away at:tongue::mixed
I don't use them. too pharmaceutical stuff!:biggrin:

 

[Quacy]

probably on the internet you are little ''semanettoni'' on the site of the abb are found the drawings in 3d in different formats cad of at least 40 different robots (anthropomorphic handlers), both of the different details and of the assemblies.
the problem is another: know how the transmission between a 'arm' and another works. I use the term ''arm' because in any book of robotics you use the term ''arm'' as well as the term ''right''. as well as there are 2-arm anthropomorphic manipulators (if you want I send you a scheme or an image).

but what I am interested is: within the joints the transmission how does it work? with toothed wheels? How does it work? are there more advantageous solutions? How does the cardan joint fit?

in a first sizing we considered a payload of 60 kg, a first arm length 1100 mm and a second long 900 mm. both arms are rectangular hollow section 80x50 of material s355.
the objective of the exam is to realize a basic project that should not be asked how detailed but at least a complete minimum.

Thanks for the helpful answers you gave me until now. those useless are in fact '' useless'

 

[numero1]

in fact the first link that has put you fulvio is just of the subscribe.

I didn't look at what's on the subscribe site, even because I'm not an expert on robots and the like, but... I'd be surprised that there's really everything.

both in technical cards and (especially) in models cad 3d.

If that were the case, but... this is probably another useless answer.

Hi.

 

[Fulvio Romano]

probably on the internet you are little ''semanettoni'' on the site of the abb are found the drawings in 3d in different formats cad of at least 40 different robots (anthropomorphic handlers), both of the different details and of the assemblies.

we do not say bullshit (discussed euphemism).
I have a supplement account on the website of the abb, I can download what you can't download, yet I don't have constructive.
3d drawings are "full" and "faced". only serve to make the figures in renders, not even to know the ingombs, because the dressing is missing.
from the constructive point of view are completely useless. and it is right that it is.

the problem is another: know how the transmission between a 'arm' and another works. I use the term ''arm' because in any book of robotics you use the term ''arm'' as well as the term ''right''. as well as there are 2-arm anthropomorphic manipulators (if you want I send you a scheme or an image).

I'm sorry for the outburst of presumption, but study what an anthropomorphic robot is and you'll understand that a two-arm system cannot be anthropomorphic.

the term "link" is more correct than "arm", but I never said that "arm" is wrong.

but what I am interested is: within the joints the transmission how does it work? with toothed wheels? How does it work? are there more advantageous solutions? How does the cardan joint fit?

the cardanic no. admits minimal angles of displacement.
There are two large groups of joints. basic ones and wrist ones.
the base joints (first, second and third axis) have engines coupled in axis, with a typically inline reducer. as I have already written, I am typically Harmonic or cyclo drive.
pulse motors (from quarter to sixth) are typically remotely structured with extensions of transfer. Let's talk about a spherical wrist, like almost all robots. the spherical wrist has a wrist centre, i.e. an independent point from the axles from four to six, and thus allows a writing of the particisable block jacobian, in particular triangular structure.
Therefore, pulse motors are usually arranged by the elbow parts. there are always good gearboxes in axis, and then extensions lead the movement to the flange of the wrist, in which three conical couplings for the three axes start.
conical coupling does not serve to reduce, but only to bring movement to axes, regardless of their relative position.

In other cases, for larger robots, the axis 6 engine is online, and only 4 and 5 are remote by extensions.
but you don't care, because you only care about the first two joints. Right?

then there are parallel-gram structures that also remote the basic actuators, such as the robot acronym 2400 and 4400.

I apologize if I wrote very fast and perhaps unclear, but now duty calls me. I will return on these pages.

 

[Fulvio Romano]

p.s.
Maybe I was unclear. . .
I always suggest Harmonic or cyclo drive, because they are more "universityly fun to study".

but he uses normal planetaries.

 

[Quacy]

Thank you for the answer! Yes, harmonic drives are a refined engineering solution and I would say that is exactly what we need.
as you said for now we are dealing with 3 solo axes and perhaps more in there we will also study the end effector.
we will not use parallelogram structures or articulated quadritaleri.
Now we are finishing the simulation and analysis of trajectories. soon we will have to draw on the cad the couplings between the links and the gearboxes and in that phase we will find a little 'to the landing'... for that they would have helped us some drawings from which to take inspiration.