A design of speed reducer with trapezoidal （减速器的设计与梯形）.pdf

Journal of Mechanical Science and Technology 25 (1) (2011) 171~176 /content/1738-494x DOI 10.1007/s12206-010-1112-y A design of speed reducer with trapezoidal tooth profile for robot manipulator † * Won-Ki Nam and Se-Hoon Oh Department of Mechanical Engineering, Chung-Ang University, Seoul 156-756, Korea (Manuscript Received March 3, 2010; Revised September 14, 2010; Accepted November 11, 2010) Abstract Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles, are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are wide- ly used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manu- factured specifically for this study. Keywords : Robot manipulator; Trapezoidal tooth profile; Speed reducer; Trajectory structure, large load capacity, and high-precision control of 1. Introduction