A precision reducer with a high ratio and a small size is essential for precise control of the position of a robotic arm. The rotate vector (RV) is a reducer widely applied in robotic joints. However, its complex structure, over-positioning and difficult assembly restrict its application industrial robots. Herein, a novel abnormal cycloidal gear (ACG) reducer is proposed. In comparison to the RV reducer, the proposed reducer has the characteristics of compact structure, less over-positioning and high ratio. The compound tooth profile of “epicycloid-involute hypocycloid” is used as the driving teeth for improving the performance of the reducer. The operating principle, mechanism design and reduction ratio of the proposed reducer is investigated, and the design method of the ACG tooth profile is also introduced. A dynamic characteristic model is established to verify the correctness of the design method of the reducer. A prototype of the ACG reducer is fabricated by using the computer numerical control (CNC) machining technology. Results show that the ACG reducer is capable to cover a wide range of reduction ratios with a simple mechanism. The numerical and theoretical results are in agreement, which depict the structural feasibility and correctness of the design method of the reducer. The adaptation of the ACG tooth profile as the driving teeth helps in improving the performance of the reducer.

No abstract

A microlens array (MLA) is a fundamental optical element, which has been widely applied in the fields of imaging sensing, 3D display, and lighting source. However, it is still a challenge to design the MLAs simultaneously satisfying small size, wide field of view, and high image quality. Herein, a novel type of concave lens array on an aspheric convex substrate (CLAACs) is presented, which is composed of an aspheric substrate and a spherical concave subeye array. The facilely designed method of the CLAACs is described and its geometric model is also established by a numerical example. Furthermore, a fabrication method, which is directly machining the CLAACs on PMMA material, is proposed. To realize the ultra-precision machining of the lens, tool path planning is carried out before fabricating. The profile, surface quality, and imaging performance of the fabricated lens are then characterized to reveal its optical capabilities. The results show that the proposed method can realize the rapid design and fabrication of lenses flexibly and efficiently. The fabricated CLAACs exhibit excellent morphology uniformity, high imaging quality, and focusing performance. The study provides a feasible solution for the design and fabrication of such lens arrays with complex discontinuous surfaces.

No abstract