Dynamics modeling of a new type of magnetically driven spherical wrist

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.