中間球の回転軸を一軸拘束した球面減速機の提案と回転伝達モデルの構築

抄録

　Common multiple-degrees-of-freedom system consist of some uniaxial motors. In contrast, a spherical motor that has a spherical rotor realizes the motion of three degrees of freedom by the motor itself. So, a system by a spherical motor can reduce its size and has advantages such as shorter control time than the system combining uniaxial motors. Most of spherical motors driven by electromagnetic forces have a problem that it is difficult to generate high output torque. So, the development of a spherical speed reducer is required to increase the output. In the development of a spherical speed reducer, it is necessary to construct a rotation transfer model to generate required rotation of the output sphere. This study proposes a spherical speed reducer that the rotation axis of the small spheres, that are intermediate spheres, is constrained not to rotate around an axis in a fixed three-dimensional orthogonal coordinates system. A rotation transmission model from the rotor to the output sphere is constructed using the fact that the rotation of a small sphere is simplified by constraining the rotation around one axis. From the experimental results, the applicability of the rotation transmission model is confirmed.