The Optimization of a Novel Prismatic Drive

TL;DR

This paper presents the design and optimization of a novel Slide-o-Cam based prismatic drive that reduces friction and improves force transmission for use in robotic machining applications.

Contribution

It introduces a new prismatic drive mechanism based on Slide-o-Cam with optimized force transmission and stress analysis for improved performance.

Findings

The mechanism achieves pure-rolling motion reducing friction.

Hertz formula applied to assess stress on rollers and cams.

Designed to replace ball-screws in a parallel robot for machining.

Abstract

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.