2022
Parallel Kinematics Manipulator
In a small group, I was tasked with using NX to prepare a full set of design and manufacturing documentation for a subchain of the Tri-Pyrimid Robot, shown to the right and detailed below.
My role
CAD modeler, Engineer
My skills
NX Modeling
GD&T
Manufacturing Documentation
Technical Writing
The Tri-Pyrimid Robot
The Tri-Pyrimid Robot is a translational parallel manipulator used for double-sided incremental forming (DSIF), a process in which sheet metal is formed using intense localized pressure. In DSIF, the sum of small local deformations becomes the final part. DSIF differs from ISF (incremental sheet-forming) in that DSIF processes use a support on the opposing side of the sheet, whereas ISF does not.
Shown below is a video of the robot deforming a piece of sheet metal:
The Project
Given CAD models (made in NX) of the designed components in the subchain, our group's first task was to find and download compatible standard parts on McMaster Carr.
For each designed component, we prepared drawings with the proper, dimensions, tolerances, limits & fits, GD&T, and surface specifications called out. Written justification for each choice has been provided in the full report linked at the bottom of the page.
Further, all parts were assembled in NX to form the full subchain, and the assembly was properly constrained to maintain the correct degrees of freedom.
Drawings of all parts are provided below:
Exploded view of the subchain w/ bill of materials, further assembly drawings: