The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

[+] Author and Article Information
D. Chablat

Institut de Recherche en Communications et Cybernétique de Nantes, UMR CNRS No. 6597, École Centrale de Nantes, Université de Nantes, École des Mines de Nantes, 1 rue de la Noë, 44321 Nantes, FranceDamien.Chablat@irccyn.ec-nantes.fr

J. Angeles

Department of Mechanical Engineering and Centre for Intelligent Machines, McGill University, 817 Sherbrooke Street West, Montreal, Canada H3A 2K6angeles@cim.mcgill.ca

J. Mech. Des 128(4), 710-718 (Sep 22, 2005) (9 pages) doi:10.1115/1.2198283 History: Received April 27, 2005; Revised September 22, 2005

The design of a novel prismatic drive is reported in this paper. This transmission is based on Slide-o-Cam, a cam mechanism with multiple rollers mounted on a common translating follower. The design of Slide-o-Cam was reported elsewhere. This drive thus provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. Such properties can be used to design new transmissions for parallel-kinematics machines. In this paper, this transmission is intended to replace the ball-screws in Orthoglide, a three-dof parallel robot intended for machining applications.

Copyright © 2006 by American Society of Mechanical Engineers
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Figure 1

Layout of Slide-o-Cam

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Figure 11

Approximation of the roller pin as a cantilever beam

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Figure 12

Geometric constraint on the roller-pin radius

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Figure 13

Dimensions of the SKF bearings

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Figure 3

Parametrization of Slide-o-Cam

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Figure 4

Home configuration of the mechanism

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Figure 5

Orientations of the cam found when vc=0: (a) ψ=Δ, (c) ψ=π, and (d) ψ=2π−Δ

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Figure 6

Constraints on the radius of the roller: (a) a4∕p<1∕2 and (b) a4∕p⩽η−b∕p

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Figure 7

Pressure angle distribution

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Figure 8

Influence of parameter η on the pressure angle μ (in degrees), with p=50mm and a4=10mm

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Figure 9

Pitch-curve profiles and their corresponding curvatures with p=50mm: (a) η=0.2(η∊]1∕(2π),1∕π[) and (b) η=0.7(η>1∕π)

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Figure 10

Pitch-curve curvature for p=50mm: (a) η=1∕π and (b) η=2∕π

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Figure 14

Layout of the two coaxial conjugate-cam mechanism on the same shaft

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Figure 15

Layout of the three conjugate-cam mechanism on the same shaft

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Figure 16

Layout of the noncoaxial conjugate-cam mechanism on three parallel shafts

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Figure 17

Pressure angle for the three cams



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