A design of speed reducer with trapezoidal tooth profile for robot manipulator

• Published in: Journal of mechanical science and technology Vol. 25; no. 1; pp. 171 - 176
• Main Authors: Nam, Won-Ki, Oh, Se-Hoon
• Format: Journal Article
• Language: English
• Published: Heidelberg Korean Society of Mechanical Engineers 2011; Springer Nature B.V; 대한기계학회
• Subjects: Applied sciences; Computer science; control theory; systems; Control; Control systems; Control theory. Systems; Cycloids; Design engineering; Drives; Dynamical Systems; Engineering; Exact sciences and technology; Gears; Human; Industrial and Production Engineering; Involutes; Linkage mechanisms, cams; Mechanical Engineering; Mechanical engineering. Machine design; Robot control; Robotics; Robots; Straight lines; Vibration; 기계공학; Speed reducer; Trajectory; Robot manipulator; Trapezoidal tooth profile; Human; Geometrical shape; Precision engineering; High precision; Involute tooth; Cycloidal; Robotics; Manipulator; Prototype tests; Arm; Curvature; Robot
• ISSN: 1738-494X; 1976-3824
• DOI: 10.1007/s12206-010-1112-y

Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.