Abstract
To achieve the design goals of transmission with small size, light weight and low cost, the pushrod harmonic mechanism which is consist of harmonic planetary and cam mechanism is proposed, and the speed-down device of low-speed motor is changed from external installed to interior installed. Based on the mechanism principle analysis, derivation of contour equation and kinematics analysis, the centroid movement theorem of the pushrod roller and the mechanism dynamic is analyzed when the sports vice friction was considered and ignored. The total reaction force and the action line are gained. These data can provide evidence for mechanism simulation, efficiency analysis and reliability design.
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