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Home » Kinematic Analysis of Robotic Bevel-Gear Trains

Kinematic Analysis of Robotic Bevel-Gear Trains

November 1, 1986
In robot configurations it is desirable to be able to obtain an arbitrary orientation of the output element or end-effector. This implies a minimum of two independent rotations about two (generally perpendicular) intersecting axes. If, in addition, the out element performs a mechanical task such as in manufacturing or assembly (e.g., drilling, turning, boring, etc.) it may be necessary for the end-effector to rotate about its axis. If such a motion is to be realized with gearing, this necessitates a three-degree-of-freedom, three-dimensional gear train, which provides a mechanical drive of gyroscopic complexity; i.e., a drive with independently controlled inputs about three axes corresponding to azimuth, nutation, and spin.
Design Manufacturing The Gear Industry Kinematics Machine Tools Emerging Technologies Robotics Technical Bevel Gears
KEYWORDS bevel gears kinematics robotics
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