Development of an Innovative 2-DOF Continuous–Rotatable Mechanism

We report on the development of an innovative two degrees of freedoms (DOF) mechanism that is capable of performing continuous rotation in both DOFs. The design process began with the analysis and comparison of general 2-DOF mechanisms with various morphologies. The final selection was based on joint angles that yielded the largest region of continuous rotation. The design concept was realized as an empirical mechanism design. The transmission systems of the two DOFs were carefully designed so that the two DOFs can rotate continuously without colliding with one another. More specifically, double C-shaped racks were designed and utilized as key components to fulfill this goal. The dynamics of the 2-DOF mechanism was then analyzed to better understand the relation between the torque input and the rotation motion output. A prototype was built and its performance was empirically evaluated. The experimental results confirm the functionality of the continuous rotation of the two DOFs in the mechanism.

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