Research Papers: Design of Mechanisms and Robotic Systems

Kinematics and Enumeration of Combined Harmonic Drive Gearing

[+] Author and Article Information
Ettore Pennestrì

Dipartimento di Ingegneria dell'Impresa,
Università degli Studi di Roma “Tor Vergata,”
via del Politecnico, 1,
Rome 00133, Italy
e-mail: pennestri@mec.uniroma2.it

Pier Paolo Valentini

Dipartimento di Ingegneria dell'Impresa,
Università degli Studi di Roma “Tor Vergata,”
via del Politecnico, 1,
Rome 00133, Italy

Contributed by the Mechanisms and Robotics Committee of ASME for publication in the JOURNAL OF MECHANICAL DESIGN. Manuscript received April 16, 2015; final manuscript received September 1, 2015; published online October 15, 2015. Assoc. Editor: Dar-Zen Chen.

J. Mech. Des 137(12), 122303 (Oct 15, 2015) (11 pages) Paper No: MD-15-1291; doi: 10.1115/1.4031590 History: Received April 16, 2015; Revised September 01, 2015

The combined harmonic drive (HD) gearing is a class of differential gears composed of traditional and HD gears. In this paper, the kinematic analysis and enumeration of these less known gear devices are discussed. In particular, a new graph-based method of kinematic analysis has been developed. In order to stimulate the diffusion and applications of combined HD gearing, an atlas of structurally nonisomorphic gear trains has been compiled.

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Grahic Jump Location
Fig. 1

Main components of the HD

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Fig. 2

Symbols for representing the main components of an HD gearing

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Fig. 3

Comparison of a single-stage HD gearing and conventional EG drive kinematic structures

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Fig. 4

Morphologies of (a) double-stage and (b) triple-stage HDs

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Fig. 5

(a) Morphology of a combined HD and (b) graph representation

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Fig. 6

Graphs of (a) double-stage and (b) triple-stage HD

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Fig. 7

Generalized transfer vertex detection phases



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