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Journal of Mechanical Science and Technology

, Volume 33, Issue 4, pp 1799–1807 | Cite as

Feasibility analysis of using a two-stage nutation drive as joint reducer for industrial robots

  • Yongwu Cai
  • Ligang Yao
  • Jun ZhangEmail author
  • Zhiyu Xie
  • Jinlong Hong
Article
  • 5 Downloads

Abstract

Nutation drive claims the advantages of high load capacity, large transmission ratio, desirable stability, low noise, and compact volume, which makes it an excellent alternative to typical joint reducers used in industrial robots. This paper proposes a novel two-stage nutation drive as a joint reducer for the industrial robot. The working principle of the nutation movement is first introduced followed by an analysis of transmission characteristics. The transmission ratio, the transmission efficiency as well as the structural schematic of the proposed nutation drive are presented. Finite element analysis of the main components, including nutation sleeve and bevel gears, was performed. Finally, a prototype was designed, manufactured and tested to verify the feasibility of applying the nutation drive as a joint reducer for industrial robots.

Keywords

Nutation drive Joint reducer Transmission ratio Transmission efficiency Industrial robot 

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Copyright information

© KSME & Springer 2019

Authors and Affiliations

  • Yongwu Cai
    • 1
  • Ligang Yao
    • 1
  • Jun Zhang
    • 1
    Email author
  • Zhiyu Xie
    • 1
  • Jinlong Hong
    • 1
  1. 1.School of Mechanical Engineering and AutomationFuzhou UniversityFuzhouChina

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