부산대학교 도서관

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 estimate the effect of tooth profile parameters on the hysteresis loss and the start-up torque. Then, we discuss the effect using manufactured prototype reducers.