0
RESEARCH PAPERS

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
Your Session has timed out. Please sign back in to continue.

References

Figures

Grahic Jump Location
Figure 1

Layout of Slide-o-Cam

Grahic Jump Location
Figure 3

Parametrization of Slide-o-Cam

Grahic Jump Location
Figure 4

Home configuration of the mechanism

Grahic Jump Location
Figure 5

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

Grahic Jump Location
Figure 6

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

Grahic Jump Location
Figure 7

Pressure angle distribution

Grahic Jump Location
Figure 8

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

Grahic Jump Location
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)

Grahic Jump Location
Figure 10

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

Grahic Jump Location
Figure 11

Approximation of the roller pin as a cantilever beam

Grahic Jump Location
Figure 12

Geometric constraint on the roller-pin radius

Grahic Jump Location
Figure 13

Dimensions of the SKF bearings

Grahic Jump Location
Figure 14

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

Grahic Jump Location
Figure 15

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

Grahic Jump Location
Figure 17

Pressure angle for the three cams

Grahic Jump Location
Figure 16

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

Tables

Errata

Discussions

Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In