Gear reducer with self-compensating capability for locally originated speed variation within the reducer system.

Abstract

Several gear reducers are proposed and employed selectably in controlled machine systems, such as robotics or industrial machines, according to the proposed function of those systems. Usually these gear reducers produce speed and torque variation caused by element error, alignment error, backlash, other nonlinear characters and meshing principles. This paper deals with the elimination of such vibration in a rather low frequency range, generated especially by element and alignment errors. To eliminate these low-frequency components of vibration which is locally generated inside the gear reducer, a local feedback loop with a sensor at the final stage of the reducer fed into the main controller, i. e., self-compensating function, is useful.