Concept of the Module
Differently, the actuations of the degree of freedom т in charge of managing the torsion and в, which allows handling the tangency of the trajectory to the control point, do not require large displacements. However, it requires high precision. For this reason, the actuators of Rz3 and Rx degrees of freedom are placed close to the control points. In this way, it is possible to have a direct actuation, while avoiding transmission errors. Finally, the motors responsible for the linear handling of the runner along the Lz direction are placed at the basis of the module as well.
Development of the Module Transmission System
The transmission system we have developed can be divided into three subsystems:
- • Positioning system on X-Y plane;
- • Torsion and tangency rotation systems;
- • Translation system along Z axis.
These three subsystems will be described in the following Sections. In order to make easier the understanding of the whole system, it is useful to present, since the very beginning, all the components of the system (Fig. 5.2).
Fig. 5.2 Mechanisms of the transmission system