新型プリズマティックドライブの最適化
The Optimization of a Novel Prismatic Drive
回転運動を直線運動に変換するローラー付きカム機構「Slide-o-Cam」の設計を最適化し、圧力角とヘルツ応力を評価して、パラレルロボットOrthoglideのボールねじ代替を目指した論文。
著者: Damien Chablat, Stéphane Caro, Emilie Bouyer
分類: cs.RO
原文アブストラクト
The design of a mechanical transmission taking into account the transmitted forces 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, a transmission intended to produce a sliding motion from a turning drive, or vice versa, was reported elsewhere. This transmission provides pure-rolling motion, thereby reducing the friction of rack-and-pinions and linear drives. The pressure angle is a relevant performance index for this transmission because it determines the amount of force transmitted to the load vs. that transmitted to the machine frame. To assess the transmission capability of the mechanism, the Hertz formula is introduced to calculate the stresses on the rollers and on the cams. The final transmission is intended to replace the current ball-screws in the Orthoglide, a three-DOF parallel robot for the production of translational motions, currently under development for machining applications at Ecole Centrale de Nantes.
