Geometry of Gaudi-inspired screw and nut for differential drive mechanism
Geometry of Gaudi-inspired screw and nut for differential drive mechanism
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DOI：
10.1109/robio.2017.8324696
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发表时间：
2017-12
期刊：
影响因子：
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通讯作者：
Kengo Fujii;T. Harada
中科院分区：
文献类型：
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作者：
Kengo Fujii;T. Harada
本文提出了一种仿高迪建筑的差动螺杆传动机构。将差动螺杆传动机构应用于并联机器人和SCARA机器人等工业机器人，以扩大工作空间。提出的螺钉被命名为高迪启发螺钉和高迪启发螺母，因为具有新颖形状的差动螺钉和差动螺母类似于西班牙建筑师安东尼·高迪设计的双螺旋结构。在本文中，我们提出使用这种高迪启发螺杆和高迪启发螺母作为驱动装置，并展示了螺杆的运动学和几何形状。首先，我们展示了一种传统的差动螺杆传动机构的运动学，并展示了高迪启发螺杆和高迪启发螺母的几何形状。利用公式处理系统对表达式进行了验证。高迪风格的螺丝和高迪风格的螺母是由3D打印机和切割原型。
A differential screw drive mechanism mimics Gaudi architecture is proposed in this paper. The differential screw drive mechanism is applied to industrial robots such as parallel robot and the SCARA robot for expanding the workspace. The proposed screw is named as the Gaudi-inspired screw and the Gaudi-inspired nut, because the differential screw and differential nut with the novel shape are similar to the double helix structure designed by Spanish architect Antoni Gaudi. In this paper, we propose to use this Gaudi-inspired screw and Gaudi-inspired nut as a driving device, and show the kinematics and geometry of the screw. Initially we show the kinematics of a conventional differential screw drive mechanism and show the geometry of Gaudi-inspired screw and Gaudi-inspired nut. We verified the expression using formula manipulation system. The Gaudi-inspired screw and Gaudi-inspired nut are prototyped by 3D printer and by cutting.