3自由度パラレルキネマティクス機構向け新型プリズマティックドライブの設計
The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine
複数ローラを備えたカム機構Slide-o-Camを基に、転がり接触で摩擦を低減する直動伝達機構を設計し、3自由度パラレルロボットOrthoglideのボールねじを置き換えることを目指した論文。
著者: Damien Chablat, Jorge Angeles
分類: cs.RO
原文アブストラクト
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.
