2A1-N03 クラウン減速機のプレスロータの設計(アクチュエータの機構と制御(1))

Abstract

Generally, low backlash mechanisms are required for robot joints to perform tasks accurately, so we are proposing a new concept of a low backlash reducer using precessing crown gears. We call it the crown reducer. The features of this reducer are low backlash, high reduction ratio and ease of downsizing which we believe will contribute to the design of small mechanisms such as finger joints of robot hands. This paper describes a improvement of input mechanism (press rotor) for increasing durability itself. Evaluations of the performance of a prototype reducer will be discussed.