COMPARATIVE OVERVIEW OF CALCULATION OF NORMAL FORCE ON CYCLOIDAL GEAR TOOTH

Abstract

The Fourth Industrial Revolution is bringing about major and important changes to the world we know today. One of the most significant results of this revolution is the development of "smart factories" in which the manufacturing process will be fully automated and will take place without the presence of people. Industrial robots will certainly form the backbone of these production systems. An industrial robot is a very complex mechatronic system that, in addition to some mechanical, electrical, electronic and other types of components, has a number of very precise high gear ratio speed reducers. In addition to the planetary and harmonic drive reducer, cycloid gears are most commonly used as drive systems for industrial robots. Speed reducers in industrial robots are expected to be very precise, reliable, efficient, and dynamically stable. In order to do a comprehensive analysis of a speed reducer, it is primarily necessary to know the loads its vital elements are exposed to. For this reason, the subject of this paper is the procedure of calculating the normal force that occurs in the contact of the cycloid gear tooth and the stationary ring gear roller. In the load calculation procedure, apart from getting accurate results, it is also essential that the procedure be quick and simple. So far, several algorithms have been developed to calculate the normal force on cycloid gear, and this paper will present the results of two the most relevant procedures for calculating this force (the Kudrijavcev's and the Lehmann’s method).