2A2-J16 Improving Transmission Torque Capability of The Low Backlash Crown Reducer(Mechanism and Control for Actuator)

Abstract

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, back-drivability, 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 about the output shaft for improving transmission torque capability of the crown reducer. Calculation results of the newly designed crown reducer by using FEM are shown in this paper.