Geometric design and dynamic characteristics of a novel abnormal cycloidal gear reducer

Abstract

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.

Manufacturing and contact characteristics analysis of a novel 2K-H internal meshing planetary reducer with involute-cycloid combined tooth profiles

“…According to the structure characteristic of the ACG reducer, a transmission ratio 92 of ACG reducer is designed, 38 with tooth numbers for the first and second deceleration stages denote as z 1 = 56, z 3 = 52, z 7 = 46 and z 6 = 49. In the ACG reducer, the first and second deceleration stages exhibit similar transmission configurations.…”

“…Unlike our prior research, which involved developing a meshing theory model for designing reducer drive teeth 37 and constructing a virtual prototype of the ACG reducer to analysis motion relationships between parts, 38 the present work introduces a composite tooth profiles manufacturing approach and operational performance of designed gear pair evaluated. The original contribution of this Note to the field of design, machining and performance evaluation of ACG reducer encompass the following: (i) Developing a new configuration and a geometric design method for the ACG reducer with a 2K-H internal meshing mechanism; (ii) Achieving the machining of the combined profiles of ACG tooth, allowing for efficient machining of the designed gear using a simple cutter in a single operation; (iii) Quantitatively evaluating the transmission advantages and disadvantages of the designed gear pair through loaded tooth contact analysis.…”

The Profiling of Hob Mill Used for Generating a Cycloidal Reducer’s Disk

“…All of these advantages have made them used in the automotive industry, in machine tools, robotics etc. [1][2][3][4].…”