How to Specify a Rotary Ball Spline, 2012-09-04, Assembly Magazine

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Ball splines and rotary ball splines are devices for transmitting both linear and rotary motion. They are widely used in assembly automation for SCARA robots, pick-and-place devices, and tool changers. A ball spline consists of three components: a grooved shaft, a spline nut and ball bearings. The grooves on the shaft are linear rather than helical like those of a ballscrew. The balls travel along the grooves, recirculating inside the spline nut. This prevents the nut from rotating on the shaft, enabling transfer of torque . . .
When specifying a rotary ball spline, engineers must consider stroke, speed, space and other factors.