Spatial motions transformers for incorporation into robot systems – review of the Bulgarian experience

¹ Institute of Mechanics – Bulgarian Academy of Sciences, Sofia, Bulgaria
² Center of Competence MIRACLe – Mechatronics Clean Technologies, Sofia, Bulgaria

^* abadjieva@gmail.com

Abstract

This work is a review of research carried out by the author on the synthesis and design of the spatial gear mechanisms, oriented for incorporation in various technical devices, especially in robotic systems. It contains also a description of the innovative and inventive activities of the author over the years. The study illustrates the elaborated through the years, basic algorithms for the synthesis of spatial motions transformers (in particular Spiroid and Helicon gear sets), which are based on the mathematical model for synthesis upon a pitch contact point. The content of the solution of the two main tasks of the synthesis - synthesis of the pitch configurations and synthesis of the active tooth surfaces configures the mentioned above algorithm. Through it, real models of Spiroid and Helicon gear transmissions are synthesized and elaborated by 3D printing subsequently, which are designed for incorporation into robots of various purposes