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Circular Spline
• Thick-walled, internal teeth, rigid steel
ring
• Can be used as output or fixed member
Harmonic Drive Gearing
--- Principle
Harmonic Drive Gearing
--- Principle
Speed reduction ratio:
input velocity no. of teeth of
flexspline
C-Beam Drive of
output velocity no. of teeth of flexspline – no.
X-ray Machine
of teeth of circular spline
Rotary to Linear Motion
where circular spline is fixed and flexspline is used
as output • 3 common approaches
– Timing belt
For example: – Pinion and rack
• 202 teeth of fixed circular spline – Ball and lead screw
• 200 teeth of output flexspline Rotary to linear motion:
Belt Drives
Speed reduction ratio = 200/(200-202)=-100
negative sign indicates input and output are in • Cleanliness
opposite directions. • Low cost
Harmonic Drive Gearing • Lubrication-free
--- Characteristics • Absorbs shock loads
• High single-stage reduction ratio • Can provide variable speeds
- 30:1 to 320:1, dual drives can make ratios from • Quiet operation
1,000:1 to 100,000:1 • High efficiency
• Zero backlash • Transmits power between widely spaced
• High precision shafts
- positional accuracy around 30 arc/sec and
• Wide selection of speed ratios
repeatability within a few seconds
• Small-sized and lightweight for high ratio
Belts
applications
Flat belt
• High torque capacity
• Rubber with
- torque is transmitted through multiple tooth contact
synthetic fibre reinforcement
• High efficiency
• High friction levels
- 85%-90% with no decrease in efficiency with
• High tension is not required
increase in ratio
• Misalignment
• Vibration-free operation
Applications
- teeth do not come into rolling contact with one
Pinion and Rack
another so operation is quiet
• Consists of two parts
• Back (reversible) driving
– Rack: flat and toothed part
• Minimal wear and long life
– Pinion: gear part
- tooth friction losses and wear are negligible due to
• Diameter of the gear determines the speed
essentially zero sliding
that the rack moves as the pinion turns
- flexible steel flexspline has a higher resistance to
Backlash
fatigue
• Central hollow shaft
• Causes problems when the drive direction is
Application:
reversed, there is a short delay before the driving
C-Beam
gear teeth mesh with the driven teeth
Ball and Lead Screw – Gear teeth cut into the outside of it, which
• Used in many precision motion systems engage a gear that moves the pitman arm
– Steering wheel connects to a threaded rod
• There are two types of screw system for
that sticks into the hole in the block
rotary to linear motion – When the steering wheel turns, it turns the
– Lead screw bolt.
– Ball screw
• Can move heavy loads with ease thanks to
the mechanical advantage of the threads
• Nature of thread count and pitch restricts
these linear motion devices to moving load quickly
Back Drive
• Vertical actuators can suffer from back drive
• Resisted by system forces
– Mechanical inefficiencies
– Static friction in the bearings and the drive
system
– Reduction (timing belt or gear) inefficiency
• Pitch of a screw-driven system also
contributes to resist back drive
– 2-rev/mm ball screw has a lower back drive
than a 5-rev/mm screw
• If power fails, system inefficiencies resist
the load's inclination to back drive.
• If the load is heavier than the back drive
forces, it will fall uncontrollably.
• Method used to prevent back drive
– Place a fail safe brake on the motor or ball
screw
– Degrade the efficiency of the system
Lead Screw
• Advantage:
– Moving heavy loads at a fairly low price
– Back-drive does not occur
Not possible to push the nut down the screw,
safe for vertical axis positioning
– Quiet
– High precision
Ball Screw
• Advantage:
– Friction can be reduced due to the ball
(lower torque will be required to move the load)
– Higher speed capabilities
– Higher precision
– High duty cycles as less heat builds up in
ball screw drive systems when compared to
conventional screw drives
Recirculating Ball Screw
• Recirculating-ball steering gear
– Consists of two parts
– Block of metal with a threaded hole in it