Development of a precision drive unit at K.K.K. 99 Ltd. to be universally used as robot joints with high powerdensity and modular construction

Abstract

A highly innovative gear unit set has been developed and manufactured to be widely used in medical industry, manufacturing robots or high precision manipulators. The main elements of the drive unit are the gear ratio reducing strain wave gear, the torque-motor and the force-torque measuring sensor, which can be combined arbitrarily. In one unit the motor series size is given but its power output (longer motor) and the gear reduction ratio can be varied. Assembling these parts, the result of this RnD project is a high precision drive with minimal dimensions, which, on itself, is able to position rotating movement precisely and while at halt it can also keep that position with high torsional stiffness. What makes the modular precision drive unit whole, is the controlling system. The above-mentioned machine elements can be assembled into different configurations so it can become part of a SCARA, humanoid or Delta robot. As a result of this project the created precision drive prototypes could provide tests and results that may influence the mechatronic and mechanical engineering profession.