The Kinetostatic Optimization of a Novel Prismatic Drive

TL;DR

This paper presents a new design for a Slide-o-Cam based transmission that minimizes friction and optimizes force transmission by analyzing kinetostatic properties, aiming to replace ball-screws in a parallel robot.

Contribution

It introduces a kinetostatic optimization approach for a novel prismatic drive based on Slide-o-Cam, enhancing force transmission and reducing friction in robotic applications.

Findings

Reduced friction through pure-rolling motion

Optimized pressure angle for force efficiency

Validated stress levels using Hertz formula

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 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.