Design and Analysis of a Spherical Constant Velocity Coupling Mechanism

Abstract

Many constant velocity (CV) couplings have been invented in the last decade. First they are summarized including the classic double Cardan mechanism. A newly developed spherical CV coupling mechanism is then discussed and analyzed structurally and dynamically by using computer aided structural analysis and mechanism solution programs. Joint reaction forces, torques, speeds, and power consumptions are also checked. Algebraic equations of this new spherical CV coupling mechanism are derived. This mechanism has the advantage of a very compact structure and uses only standard radial bearings. It may be used wherever misaligned shafts are required.

Inversion Symmetry of the Euclidean Group: Theory and Application to Robot Kinematics

“…Besides, M 3B also happens to be the mixed freedom operation mode of the DYMO multi-mode parallel robot ( [58]), and therefore offers new insight in type synthesis of multi-mode parallel robots. Finally, the inversion symmetry properties of symmetric submanifolds may offer a systematic approach to synthesizing interconnected parallel generators, as can be observed from several novel M 2B -CV joints ( [54,55]). We will utilize the many geometric properties developed here in the type synthesis of parallel and interconnected generators for symmetric submanifolds in a separate treatment.…”

“…Whenĥ 1 =ĥ 2 = 0,ξ + i =ξ − i =ξ i ∈ m 2B , i = 1, 2 and we have a singular so(3)-chain. Both the odd m 2B -SC and the even m 2B -SC can be found in the design of novel CV joints ( [54,55]).…”

Parallel Robots with Homokinetic Joints: The Zero-Torsion Case

“…When augmented by a revolute joint (denoted R), it may serve as a novel, compact S joint with high stiffness and tilt range. This design was inspired by prior work on homokinetic joints [11][12][13]. A homokinetic or constant-velocity joint, which we denote by O, provides the 2R freedoms for orientating a direction vector (say the z-axis) without spinning.…”

Optimum design of a spherical quasi-homokinetic linkage for motion transmission between orthogonal axes

“…A class of homokinetic joints allowing relative displacements of the input and output shafts is well known in the automotive industry. Particularly, in front-wheel drive cars, the motion of the suspension system as well as the steering mechanism continuously change the angle between the gearbox and the wheels; it is important that these variations be tolerated by the coupling mechanism in operation [2].…”

“…1, the latter intersecting at right angles. It was first realized by Robert Hooke that the coupling mechanism thus resulting is of the homokinetic type [2][3][4].…”