Table 5 Calculated design parameters of the worm–gear module of the multifunctional robotic end-effector
Design parameters | Designed values |
|---|---|
Worm–gear ratio (\(i\)) | 4 |
\(d_{1}\) and \(d_{2}\) | 24.50, 40 mm |
\(P_{2}\) | 4.90 mm |
\(C_{\text{a}}\) | 32.25 mm |
\(P_{\text{a}}\) | 6.58 mm |
\(m\) | 1.56–2 mm |
\(L\) | 32.90 mm |
\(\lambda\) or \(\psi\) | 29.86° |
\(L_{\text{W}}\) | 32.24 mm |
\(L_{\text{Screw}}\) | 141.12 mm |
\(V_{1}\) | 0.18852 m/s |
\(V_{2}\) | 0.236 m/s |