Abstract
When the simple equipment which moves with cross type 4 arms goes up stairs, drive torque changes with the rotation positions of an arm. Therefore, when designing the actuator of simple equipment, the motor set by the maximum torque needed for the axis of rotation will be selected. However, if selection of a motor is united with maximum torque, futility will arise in the size and energy consumed of equipment. This research examined how to equalize this changing driving torque with the noncircular gear. As a result of examination, the shape of the noncircular gear of decreasing the maximum of drive torque by not less than 30% was able to be searched. However, as a result of the experiment, the problem occurred in engagement of the noncircular gear, and the countermeasure became a new subject. In conclusion, the countermeasure was able to consider how to tie the noncircular gear to three.
