High-performance transmission mechanism for robotic applications

High-performance transmission mechanisms are essential for robotic applications, since they affect overall weight, motion speed and actuation force. An innovative high-performance transmission mechanism with a single motor has been designed, analyzed and developed. The proposed mechanism can achieve a high-speed motion in Mode I and generate a large actuation force in Mode II. It is used to actuate an anthropomorphic finger, allowing it to produce fast bending motions and large contact forces, but it could be adopted in all those applications where high speed and large force are required. Detailed performance analysis is presented as well as experimental measurements showing successful fulfilment of requirements. The maximum velocity of the transmission mechanism is about 96.1mm/s, and the measured actuation force is about 377N.