Mechanisms with Bevel Internal Gears Having a Small Difference in Numbers of Teeth

Abstract

These mechanisms have gained prowess because of the benefits they offer, especially obtaining high reduction ratios in one reduction step. In addition, there is no longer the risk of trochoid interference that may occur in the case of the internal cylindrical gears when the teeth numbers difference is small. Since the satellite performs a nutation motion, these gears are also called nutation gears. The purpose of this paper is to propose some new nutation geared mechanisms using bevel internal gears having small difference in numbers of teeth. Based on these mechanisms, some robotic wrists will be proposed in another paper of the same journal.