1A2-G22 低バックラッシュ立体カム機構のパラレルマニピュレータへの応用

概要

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This paper proposes an application of a low backlash 3D cam mechanism to a parallel manipulator. The structure of the parallel manipulator has beneficial characteristics allowing a high degree of power, speed, rigidity, and precision. These features make the manipulator highly applicable to the medical field and other fields requiring high precision instruments. The developed low backlash 3D cam mechanism transmits motion from the cam to the follower with theoretically zero backlash. The cam is also able to create a displacement of the axis of rotation similar to that of a bevel gear. The 3D cam mechanism can also be miniaturized without losing its high power transmitting abilities. Combining the features of the parallel manipulator and that of the cam mechanism, a small, precise and powerful manipulator can be developed.
一般社団法人日本機械学会の論文