The design of spherical multilobe-cam mechanisms.

Cam-roller mechanisms can be used in transmissions and robotic devices as an alternative to their bevel-gear counterparts. As bevel gears are used to couple shafts of intersecting axes, their cam-mechanism replacements are bound to have intersecting axes as well. This means that the contact surface of the cam must be conical, which leads to spherical cam mechanisms. Compared with gear transmissions, cam-roller mechanisms feature low friction, low backlash, and high strength. However, cam mechanisms may end up with a high pressure angle if negative action, a motion in which the cam is driven by mechanism rollers, occurs. This article reports the design of transmissions with spherical multilobe cams (MLCs), as a means to reduce the pressure angle. The kinematics of MLC, including profile generation, undercutting avoidance, and transmission-quality evaluation, is studied here. A case study has been included, in which the synthesis of a spherical MLC transmission is undertaken as a means to improve the transmission quality of a spherical epicyclic gear train. This train was introduced with the purpose of producing a singularity-free, unlimited-workspace pitch-roll wrist. [ABSTRACT FROM AUTHOR]