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<p>One-way clutches are of considerable importance in robotic applications. However, they contribute to backlash. Robotic systems constructed out of parts, each being the source of backlash, suffer from control and stability problems. Therefore, this paper is intended for eliminating the wasted angular displacement ahead of clutch engagement. A completely passive mechanical design to retrofit conventional ratchet and pawl clutch with a specially-designed anti-pawl and lockset has succeeded in compensating for the backlash. All the necessary calculations have been described and analyzed in Maple® and Geogebra®. The whole performance of the model has been evaluated in the MSC Adams® environment. The equation governing the surface profile of the anti-pawl, which makes the clutch backlash-free, is a Taylor polynomial. Up to degree ten, the root-mean-square error (RMSE) for fifteen sampling points on the curve is equal to 0.0045&#xa0;mm. For higher-degree Taylor polynomials, it has been shown that the upper bound of the errors converges to zero.</p>

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Kinematic synthesis of an anti-backlash ratchet-and-pawl clutch mechanism for extremely high precision indexing applications

  • 期刊论文

  • 发表日期：

    2026年6月15日

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  • Yalçin Bulut

摘要

One-way clutches are of considerable importance in robotic applications. However, they contribute to backlash. Robotic systems constructed out of parts, each being the source of backlash, suffer from control and stability problems. Therefore, this paper is intended for eliminating the wasted angular displacement ahead of clutch engagement. A completely passive mechanical design to retrofit conventional ratchet and pawl clutch with a specially-designed anti-pawl and lockset has succeeded in compensating for the backlash. All the necessary calculations have been described and analyzed in Maple® and Geogebra®. The whole performance of the model has been evaluated in the MSC Adams® environment. The equation governing the surface profile of the anti-pawl, which makes the clutch backlash-free, is a Taylor polynomial. Up to degree ten, the root-mean-square error (RMSE) for fifteen sampling points on the curve is equal to 0.0045 mm. For higher-degree Taylor polynomials, it has been shown that the upper bound of the errors converges to zero.