摘要
驱动机器人的减速器需要有良好的传动精度和刚性 ,以及小的传动回差。摆线传动是一种较为适合机器人驱动的减速器之一。根据摆线传动的原理和特点 ,综述了近年来各种新型摆线传动技术的研究及其应用 ,并分析了机器人驱动用RV传动、twinspin轴承式摆线减速器、三片摆线轮减速器、Dojen摆线减速器、摆线球齿 (钢球 )减速器等新型摆线传动技术特点。
The reducers used to drive the joints of robot arms must have good transmission precision and high rigidity as well as very low backlash. Cycloid drive is one of the reducers that are fitted with robots. Based on the principle of cycloidal gearing and construction, the R&D of the cycloidal gearing and the construction of the reducers are reviewed. Some newly developed cycloidal reducers such as RV reducer, twinspin reducer, three disc cycloidal reducer, Dojen cycloid reducer, and ball cycloidal reducer are cited and their constructions are analyzed.
出处
《杭州电子工业学院学报》
2002年第3期67-72,共6页
Journal of Hangzhou Institute of Electronic Engineering
