Path Generating Belt Mechanisms as Kinematic Chains for Mechatronic Applications

摘要

The paper deals with a special type of planar belt mechanism with two degrees of freedom. Belt mechanisms achieve in principle any movement task, precisely, in a defined range, by using a belt as a flexible and inextensible element and at least one profiled wheel (non-circular wheel), on which the belt is enveloped or developed. In order to use belt mechanisms in mechatronic applications, the increasing of the degree of freedom and the use of simple circular wheel are required. The control of the actuator's movement makes theoretically possible the generation of any movement task in the wheel's plane.