A dynamic model for the Bendix wrist

Abstract

The network model approach is used for deriving a complete mathematical model which includes the kinematic and dynamic properties of the Bendix wrist mechanism. According to the approach, first, the mathematical models of each part of the mechanism are formulated. Then, the schematic diagram which indicates the interconnections of the components forming the system is drawn. Finally, the system graph is depicted, which yields all the necessary information about the system. In this publication, in addition to the system graph for the gear-pairs in the mechanism, a new graph has been developed which shows the angular velocity and torque relations among the gears. An illustrative example is given for the application of the complete model obtained.