Mechnical Design
  1. Mechanical design will be a significant part of our competence, using three-dimensional graphics software to do the assemblies, and system flow chart(P&ID) using CAD software; mechanical stress and nonlinear problems will be adopted the finite element approach to analyze, numerical method software can be used for analysis of structures under the static and dynamic loading.
  2. Mechanical design including mechanism design, transmission design, enclosure and base design, hydraulic and pnumatic pipeline and other related design.

 

1. Plane and space mechanism design
There are D-H coordinate analysis, trajectory planning, the degree of freedom calculation.
2D rotation

2D rotation

3D rotation

3D rotation

2D translation

2D translation

3D translation

3D translation

 

 

Modified Denavit-Hartenberg(DH) parameters

 

i αi-1 ai-1 di θi
1 0 0 0 0
2 -90 0 d2 θ2
3 90 0 d3 0
4 0 0 0 θ4
5 -90 0 0 0
6 90 0 0 0

 

 

 

 

Trans d1

 

 

Rot theta1

 

 

 

DH a1

 

 

 

DH Alpha1

 

 

 

 

right handed orientation

right handed orientation

 

cross product operator,Jacobian

Jacobian matrix


2. Drive design
Gear, pneumatic and hydraulic drive.

3. Enclosure and base
According to customer topographic space and noise requirements.

4. Hydraulic Pipeline
Viable for heavy load , pipe and tube fittings, hydraulic valves, filters, pumps and other components.

5. Pneumatic Pipeline
Air compressor, pipe and tube fittings, pneumatic solenoid valve, and other components

pneumatic control


6. Manipulator arm structure design
Including the design of the body base, arms, joints and other moving parts.

Euler's equation

Euler's equation

 

 

moment of inertia or rotational inertia

 

moment of inertia

 

moment of inertia2

 

 

Inertia tensor

 

Inertia tensor

 

 

Properties of Rigid Bodies

 

  Lagrange equations

Lagrange equations

 

Christoffel symbol

 

 

cramer rule