抄録
We are developing a low backlash reducer using precessing crown gears. We call it crown reducer. The features of this reducer are low backlash, high reduction ratio, and advantage in miniaturizing. These features greatly contribute to design various small mechanisms such as a finger joint of a robot hand. In this paper, we describe some modifications of mechanical design for miniaturizing the crown reducer. Two prototype reducers, which diameter are φ6 and φ012 (gears' diameter are φ5 and φ10, respectively), are shown in this paper. Some evaluation results for φ6 type are also presented.
