Configuration Design and Simulation of Novel Petal Tooth Nutation Joint Drive for Robot

摘要

As the core component of the robot, the transmission performance of the precision joint drive directly affects the efficiency of the whole system. The purpose of this paper is to propose and analyze a new joint drive for robot about a novel nutation drive with petal teeth. Configuration design are developed and the models are then verified by kinematics simulation and interference detection by virtual prototype technology. Further, the digital design and motion simulation of the nutation gear drive and CNC machining of the key parts are accomplished. The verification of the working process of the nutation joint drive can show the validity of the desired value on the designed joint drive for robot.