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Harmonic Drive Gear and Wrist end mechanism in industrial robots

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Harmonic Drive Gear and Wrist end mechanism in industrial robots

  1. 1. For strain wave gearing mechanism the gearing reduction ratio can be calculated as follows: Reduction Ratio = (Flex Spline Teeth – Circular Spline Teeth) Flex spline Teeth For example, if there are 202 teeth on the circular spline and 200 on the flex spline, the reduction ratio is (200 − 202)/200 = −0.01 Thus the flex spline spins at 1/100 the speed of the wave generator plug and in the opposite direction.
  2. 2. ROLL M N P Actuator 1 Actuator 2
  3. 3. ROLL YAW PITCH 1 2 3 4 ROLL:- Motor 4 YAW:- Motor 1 PITCH:- Motor 2,4 (opposite direction)  Uses 5 sets of bevel gears.  Holding gripper in assembly and handling operations.

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