Fundamental Analysis of Cycloid Ball Reducer (4th Report)

摘要

The Cycloid Ball Reducer has been developed for robot actuator. A motion principle of the reducer has been analyzed, and optimal design method using theoretical strength has been shown. In this report, a calculation method of the reducer's theoretical efficiency is shown. Then, using this method, the design parameters are investigated to make an optimal shape of trochoidal groove. The Oldham's type output mechanism is developed, as like as Oldham's coupling. Also a motion principle and an efficiency of this output mechanism are shown. It is clear that type output mechanism has a small efficiency fluctuation caused by kinematic motion. But this value is smaller than that value caused by machining error. And then, the prototype reducer is tested, it is proved that these theoretical efficiency can be estimated using proposed calculation method.