Harmonic Drive Gear and Wrist end mechanism in industrial robots
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The document describes how to calculate the reduction ratio of a strain wave gearing mechanism. It provides an example where a flex spline with 200 teeth and a circular spline with 202 teeth would result in a reduction ratio of -0.01. This means the flex spline would spin at 1/100th the speed of the wave generator plug, but in the opposite direction. It also contains an unrelated section about actuators and motors used in a robotic arm.
Harmonic Drive Gear and Wrist end mechanism in industrial robots
- 6. For strain wave gearing mechanism the gearing reduction ratio can be calculated as follows: Reduction Ratio = (Flex Spline Teeth C Circular Spline Teeth) Flex spline Teeth For example, if there are 202 teeth on the circular spline and 200 on the flex spline, the reduction ratio is (200 ? 202)/200 = ?0.01 Thus the flex spline spins at 1/100 the speed of the wave generator plug and in the opposite direction.
- 11. ROLL YAW PITCH 1 2 3 4 ROLL:- Motor 4 YAW:- Motor 1 PITCH:- Motor 2,4 (opposite direction) ? Uses 5 sets of bevel gears. ? Holding gripper in assembly and handling operations.