Waist Drive for Electric Drive Robot
Original Publication Date: 1989-Mar-01
Included in the Prior Art Database: 2005-Jan-27
This article describes a waist drive for an electric drive robot (EDR) which provides a backlash free rotary base for cylindrical or spherical motion robots. The waist drive assembly is shown in Fig. 1 in side view partly in section. It provides the EDR arm with 270 degrees of rotation about a vertical axis. Due to the length of the arm, backlash-free operation is essential in obtaining the required position tolerances. Main shaft A is shown within the main housing. The main shaft is the output element of the drive. It is supported by two sets of tapered roller bearings B. The bearings can be adjusted for the proper preload of the system using bearing lock nut C. The drive gear R is attached to the lower end of the main shaft.