The Kinetostatic Optimization of a Novel Prismatic Drive

Damien Chablat (1) , Stéphane Caro (1)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes

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 suitable 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.

Mots clés: Optimal design; Slide-o-Cam; Pressure angles; Hertz's formula; Orthoglide

Domaines: Robotique [cs.RO]

Damien Chablat, Stéphane Caro. The Kinetostatic Optimization of a Novel Prismatic Drive. 12th World Congress in Mechanism and Machine Science, Jun 2007, Besançon, France. pp.1-6. ⟨hal-00164982⟩