Kinematics of Spherical Multi-Lobe-Cams for The Design of a Pitch-Roll Wrist

Author

Bai, Shaoping ; Angeles, Jorge

Author_Institution

Dept. of Mech. Eng., Aalborg Univ.

fYear

2006

fDate

5-8 Dec. 2006

Firstpage

1

Lastpage

6

Abstract

Cam-roller mechanism can be used in transmissions and robotic devices as an alternative to their bevel-gear counterparts. Compared with gear transmissions, cam-roller mechanisms feature low friction, low backlash, and high strength. However, cam mechanisms may end up with a high pressure angle if negative action, a motion in which the cam is driven by rollers, occurs. This paper reports the design of transmissions with multi-lobe-cams (MLC), as a means to reduce the pressure angle. The kinematics problems associated to MLC, including profile generation and transmission errors, are studied. As an example, a pith-roll wrist designed with MLC is described

Keywords

cams (mechanical); kinematics; power transmission (mechanical); backlash; friction; pitch-roll wrist design; pressure angle; robotic devices; spherical multilobe-cam kinematics; transmission design; Coaxial components; Couplings; Equations; Friction; Gears; Geometry; Intelligent robots; Kinematics; Mechanical engineering; Wrist;

fLanguage

English

Publisher

ieee

Conference_Titel

Control, Automation, Robotics and Vision, 2006. ICARCV '06. 9th International Conference on

Conference_Location

Singapore

Print_ISBN

1-4244-0341-3

Electronic_ISBN

1-4214-042-1

Type

conf

DOI

10.1109/ICARCV.2006.345291

Filename

4150313