This paper introduces a novel gearââ?¬â??clutch mechanism that takes advantage of the difference between the directions\nin the reaction forces that occur during meshing and jamming to ensure jam-free engagement of the gears. The\nproposed mechanism is a more compact advancement of the previously developed linear rack-tilting clutch used\nto provide a step change in the reduction ratio. Mathematical models of the jam-free and stable meshing condition\nof the proposed mechanism are developed and experimentally verified, along with a discussion and recommendations\nto be considered as design guidelines. Additionally, a singularly actuated robotic joint prototype is developed\nto examine the performance of the proposed clutch mechanism. The joint was driven by a small 2-W DC motor. The\nmaximum output torque was 4 Nm with a maximum travel range of over 200ââ??¦ during the high-force phase, and\nthe maximum speed was 252ââ??¦/s with an infinite travel range during the high-speed phase. The mechanism exhibits\npotential for applications that benefit from a step transmission and long force-exerting travel range such as vices,\ngrippers, and industrial punching and shearing machines, as well as robotic arms and power assist exoskeletons.
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