Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots

• Published in: Journal of mechanical science and technology Vol. 33; no. 4; pp. 1799 - 1807
• Main Authors: Cai, Yongwu, Yao, Ligang, Zhang, Jun, Xie, Zhiyu, Hong, Jinlong
• Format: Journal Article
• Language: English
• Published: Seoul Korean Society of Mechanical Engineers 01.04.2019; Springer Nature B.V; 대한기계학회
• Subjects: Bevel gears; Control; Dynamical Systems; Engineering; Feasibility studies; Finite element method; Industrial and Production Engineering; Industrial robots; Low noise; Mechanical Engineering; Noise reduction; Nutation; Robots; Transmission efficiency; Vibration; 기계공학; Industrial robot; Nutation drive; Joint reducer; Transmission ratio; Transmission efficiency
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-019-0332-z

Nutation drive claims the advantages of high load capacity, large transmission ratio, desirable stability, low noise, and compact volume, which makes it an excellent alternative to typical joint reducers used in industrial robots. This paper proposes a novel two-stage nutation drive as a joint reducer for the industrial robot. The working principle of the nutation movement is first introduced followed by an analysis of transmission characteristics. The transmission ratio, the transmission efficiency as well as the structural schematic of the proposed nutation drive are presented. Finite element analysis of the main components, including nutation sleeve and bevel gears, was performed. Finally, a prototype was designed, manufactured and tested to verify the feasibility of applying the nutation drive as a joint reducer for industrial robots.