サイクロイドボール減速機の基礎解析（第5報）: 2段型減速機構の開発

摘要

位置決め機構用減速機として開発されたサイクロイドボールrn減速機について，動作原理，強度設計，効率解析等を進めてきrnた．その結果，減速機設計に必要な基本的設計条件が明らrnかになってきた．しかし，近年の減速比範囲の拡大や小型軽量rn化また低振動化といった新たな要求には，提案してきた減速機rn構造では対応できないことから新たな減速機構造を検討する必rn要が生じてきた．%The motion of a two stage type Cycloid Ball Reducer is analyzed. The fundamental reduced element of this reducer consists of three components; two surface grooved discs and a train of balls. One of the discs has an epi-trochoidal wave groove on one side surface while other disc has a hypo-trochoidal wave grooves. These grooves are just like a grooved cam mechanism. Also, they are arranged face-to-face with each other, and balls are located which transmit the torque between these discs. Especially, to eliminate the eccentric excitation which is caused by eccentric motion, this newly proposed mechanism has the special transmitting element which locates between the fundamental reduced elements. In this paper, the motion principle is analyzed using the polar complex vectors analysis. Also the design parameters are investigated. It is proved that the proposed reducer has a constant velocity rotation characteristic in motion principle. Then using the prototype reducer, the positioning accuracy and the backlash characteristic have been verified.