The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine

Damien Chablat (1) , Jorge Angeles (2)

1 IRCCyN - Institut de Recherche en Communications et en Cybernétique de Nantes
2 CIM - Centre for Intelligent Machines

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.

Mots clés: slide-o-cam; orthoglide; design; cam; transmission

Domaines: Robotique [cs.RO]

Damien Chablat, Jorge Angeles. The Design of a Novel Prismatic Drive for a Three-DOF Parallel-Kinematics Machine. Journal of Mechanical Design, 2006, 128 (4), pp.710-718. ⟨hal-00583260⟩