Development of a low backlash Crown Reducer
Development of a low backlash Crown Reducer
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DOI：
10.1109/iros.2010.5651770
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发表时间：
2010-12
期刊：
影响因子：
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通讯作者：
H. Sasaki;T. Masuyama;Takayuki Takahashi
中科院分区：
文献类型：
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作者：
H. Sasaki;T. Masuyama;Takayuki Takahashi
本文介绍了一种新型的小侧隙圆柱齿轮减速器。我们称之为牙冠复位器。该减速器具有齿隙小、减速比高、减速性能好等特点。这些特征极大地有助于设计各种小型机构，如机器人手的手指关节。冠状齿轮对面对面啮合，一个作为转子，另一个作为定子。转子齿轮有N个齿，轮毂连接到输出轴。转子齿轮的轮辐在齿轮滚动时发生弹性变形。固定在壳体上的定子齿轮有N-1个齿（或N + 1）。对几种齿条齿形的鼓形齿轮副的啮合进行了仿真，计算出了提高齿高刚度的合适齿条参数。最后，回差和最小输入转矩旋转使用原型减速器进行评估。
In this paper, we describe a novel low backlash reducer using precessing crown gears. we call this mechanism Crown Reducer. The features of this reducer are low backlash, high reduction ratio, advantage in miniaturizing. These features greatly contribute to design various small mechanisms such as a finger joint of a robot hand. The crown gear pair is meshing in face to face, one acts as a rotor and the other as a stator. The rotor gear has N teeth and the hub is connected to the output shaft. The spokes of rotor gear are elastically deformed according to gears rolling. The stator gear fixed on a housing has N − 1 teeth (or N + 1). The meshing of crown gear pair with several shapes of rack tooth are simulated, and proper parameters of rack to improve high rigidity of teeth are calculated. Finally, backlash and minimum input torque to rotate are evaluated using a prototype reducer.