Geometry of Gaudi-inspired screw and nut for differential drive mechanism

A differential screw drive mechanism mimics Gaudi architecture is proposed in this paper. The differential screw drive mechanism is applied to industrial robots such as parallel robot and the SCARA robot for expanding the workspace. The proposed screw is named as the Gaudi-inspired screw and the Gaudi-inspired nut, because the differential screw and differential nut with the novel shape are similar to the double helix structure designed by Spanish architect Antoni Gaudi. In this paper, we propose to use this Gaudi-inspired screw and Gaudi-inspired nut as a driving device, and show the kinematics and geometry of the screw. Initially we show the kinematics of a conventional differential screw drive mechanism and show the geometry of Gaudi-inspired screw and Gaudi-inspired nut. We verified the expression using formula manipulation system. The Gaudi-inspired screw and Gaudi-inspired nut are prototyped by 3D printer and by cutting.