Abstract

Stepping motion is the movement of output execution with fixed period of motion, and the cam type manipulator has the characteristics of steady movement, accurate transmission, controllable working speed and low cost. According to the output step action design 6 different types of cam mechanism(plane groove cam, cylindrical cam, globoidal cam mechanism with cylinder cam mechanism, plane groove cam-cylindrical cam, double globoidal cam, globoidal cam — plane groove cam) and compared. Taking the globoidal cam as an example, the program of the theoretical contour curve is compiled, and the solid modeling is completed by using CREO. Finally, the simulation analysis of double arc convex wheel stepping drive manipulator is carried out, and the displacement, velocity and acceleration curves of the actuator are obtained.

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