Development of coaxial wire reduction gear for manipulator robots


A coaxial cable drive mechanism is proposed to implement a high reduction gear ratio. The cable drive mechanism has nice advantages like lightweight, zero backlashes and high degrees of freedom in terms of mechanical design. However, it is restrictively utilised in robotic applications as a result of it's troublesome to implement a high reduction gear ratio of a lot of than ten:1 due to the complexity of adjusting tension components, that causes the mechanical structure to be rather bulky and serious to be mounted. To overcome this, in this author's previous work a multi-level reduction mechanism, by adopting a seamless winding technique which links the previous output axis to a higher input axis, was developed. The performance of the previous work, by adopting a coaxial mechanism to drive the multi-level reduction system is improved. Significantly, the proposed mechanism reduces the general size because of economical integration of mechanical parts. On the idea of the proposed mechanism, a three-dimensional laptop-aided design is provided and therefore the prototype is manufactured, where the usability of the prototype is verified by experimental results.

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