Abstract
Worm gears are likely to be applicable for a small manipulator, as the size is small and the reduction ratio is very high. However, when positioning motion is carried out in this mechanism, the dynamics are assumed to be very complicated in a deceleration process, because of self-locking, wherein the torque can't be transmitted from the worm wheel to the worm. Many reports have been made referring to the torque transmission at a constant velocity, but the dynamics in the acceleration and deceleration process have not been shown. This paper describes a positioning dynamics of a worm gears mechanism and a simple model for a multiple-degree-of-freedom manipulator.
