بحث بعنوان Novel Schönflies Motion Parallel Robot Driven by Differential Mechanism

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Novel Schönflies Motion Parallel Robot Driven by Differential Mechanism
Takashi Harada
Department of Mechanical Engineering, Faculty of Science and Engineering, Kindai University, Higashiosaka, Japan
Email: harada@mech.kindai.ac.jp

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Abstract—Novel four-dof (three-translation and onerotation) gantry type parallel robot driven by a differential
belt and a differential screw is proposed in this paper. Single
side timing belt was installed in the conventional research,
which restricts arrangements of pulleys on the robot. The
restriction of the arrangement of pulleys is eliminated by the
double-sided timing belt. In order to eliminate the design
limitation by using off-the-shelf spline-screw, our novel
differential cylindrical drive by Gaudi-screw is installed in
the moving part. Workspace of the robot is limited because
no longer looped timing belt is off-the-shelf. Novel belt
arrangement is proposed for enlarging the workspace by
multiple looped timing belts. Linux CNC was customized for
the first prototype.
Index Terms—parallel robot, differential belt drive, differential screw, Linux CNC
CONCLUSIONS
Novel Schönflies motion parallel robot driven by a
differential belt and a differential screw was proposed.
 The restriction of the arrangement of pulleys is
eliminated by the double-sided timing belt.
(a) single looped-belt (b) multi looped-belt
Figure 8. Expand the workspace by multi looped-belt
Figure 9. 3D design of double-H SMG Novel differential cylindrical drive by Gaudiscrew is installed in the moving part.
 Novel belt arrangement is proposed for enlarging
the workspace by multiple looped timing belts.
 Linux CNC was customized for the first prototype.

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