歳差運動ボール減速機の基礎解析(第1報) : 同軸出力形の動作原理

概要

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The Precession Motion Ball Reducer is introduced and analyzed which has been newly developed. The element of the reducer consists of four coaxial components ; an inclined input shaft, a fixed ring, a precession motion rotor with the freely rotating balls, and an output ring. These balls reduce a friction of meshing. And these are arranged in a uniform angular pitch. Also these are preloaded structurally to eliminate backlash. The fixed ring has many looped grooves on inside of its surface. And the output ring has a spatial wave groove just like a "trochoidal-wave" on inside of its surface. Also these grooves conform to the loci of each ball attached on the precession motion rotor. This Precession Motion Ball Reducer is suitable for the positioning mechanism that needs a non-backlash characteristic. In this report, the motion principle is analyzed using polar complex vectors. It is proved that the position of each ball attached on the pression motion rotor is the important parameter to choose a reduction ratio and to generate a shape of groove.
公益社団法人精密工学会の論文
2003-05-05