Abstract
The construction of modern industrial robots has imposed the assurance of a higher kinematic precision of orientation and positioning, which led to the apperance of better mechanical transmissions. The paper presents the construction and operating of such a new mechanical transmission, named the double harmonic transmission (DHT). Through the kinematic analysis of the double harmonic transmission, it was developed an original analytical calculation method of the transmission ratio for the cases of two constructive variants of these transmissions. The detailed study of the harmonic engagement processes in the two stages of double harmonic transmission has highlighted the relative movements of the teeth of the conjugated wheels.
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