221 可動ピン入力形トロコイド歯車減速機に関する研究(OS15-1 リンク・カムI)

概要

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We have developed a new type reducer having no eccentric crank input similar to Harmonic drive. By employing a train of movable pins and trochoid cam gears, it can get high torsional rigidity compared to Harmonic drive using elastic deformation. This reducer consists of the three components; The first one is an input cam having a concentric ellipse-shaped groove to keep a train of movable pins in it. The second one is an output cam having two teeth less than the number of pins. The third one is a fixed cam having equal number of teeth to the number of pins. When the input cam rotates 180 degree in a CCW direction, a pin turns around along a tooth of the fixed cam, by this motion, the output cam rotates in a CW direction by one tooth relative to the fixid cam. In this report, the design method of cam profile that provides the defined motion of the pins is presented, and pressure angle is analyzed by using polar complex vector.
2007-11-29