Design of Tooth Profile for Improvement of Accurate Motion of the Crown Reducer

-Clearance design of tooth profile and proposal of single circular rotor gear-

Abstract

Generally, low backlash mechanisms are required for robot joints to perform tasks accurately, so we are proposing a new concept of a low backlash reducer using precessing crown gears. We call it the crown reducer. The features of this reducer are low backlash, high reduction ratio and ease of downsizing which we believe will contribute to the design of small mechanisms such as finger joints of robot hands. This paper describes a design of tooth profile for improvement of accurate motion. Firstly, we propose the clearance of tooth profile for stator gear to avoid increasing input torque. Secondary, we change design of the rotor gear with coaxial double circular gear to single circular gear for reduction of manufacturing cost. Finally, we discuss the effect using manufactured prototype reducers.