Spherical Wrist for CNC Sheet Metal Cutting Machines Application
Victor Hugo Brito Fernandes1; Antônio Bento Filho1; Rafhael Milanezi de Andrade1
1 UFES
doi:10.20906/CPS/COB-2015-2682
Resumo
This work presents the development of a spherical wrist, to be applied in CNC plasma cutting machines. Spherical wrists are robotic devices that decouple the position and orientation in robot manipulators, and are used when operations need dexterity from the manipulator. In CNC cutting machines, they make possible bevel cutting in sheets and tubes and reaching new cutting positions. It is presented a review of the research results and industrial design of similar devices, and the most used mechatronic solutions and applications on sheet metal cutting. Afterwards are presented the development of a virtual prototype of the proposed solution and its direct and inverse kinematic models, which were based on the proposed design, and which simulation results confirm the models accuracy. Finally it is presented a strategy to integrate the device to a cutting machine and a program to convert DXF files to G Code, adding the newly implemented degrees of freedom from the device to the CNC software.
Palavras-chave: spherical wrist; robotic wrist; wrist; bevel head; bevel cutting