Shoulder Drive Mechanism for EDR Robot
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
This article describes a shoulder drive mechanism for an electric drive robot (EDR) utilizing a timing belt drive as the primary speed reduction and a worm gear set as the final drive to the shoulder actuating shaft. Conventionally, a helical (worm) gear set was used as the primary gear reduction in the shoulder drive of the robot arm. The output of the driven worm gear set was the input to a custom ground "spiroid gear (Image Omitted) and worm" assembly. In the shoulder drive mechanism disclosed herein, the conventional worm gear set has been modified to include a tapered locking bushing in the bore of the gear, as shown in Fig. 1, which is a section A-A across the front elevation of Fig. 2. This tapered bushing is tightened in place by a large hex lock nut.