Page 233 - Robotics Designing the Mechanisms for Automated Machinery
P. 233
6.3 Rotational Transportation 221
FIGURE 6.19 Design of a rotating
machine for sorting rollers.
How to make the right choice of ratios? We will demonstrate on the basis of this
specific example of a five-position machine. We denote:
o) 3 = angular speed of pinion 3,
ft = angular speed of lever 4,
z 3 = number of teeth on pinion 3,
z 6 = number of teeth on sun gear 6.
Then we can write
FIGURE 6.20 Another kinematic solution of
the mechanism shown in Figure 6.19.
