Strain Wave Gear Encoder Integration for Precise Alignment
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Solution Overview
Problem
Existing strain wave gears face challenges in achieving precise encoder attachment, leading to potential misalignment and increased assembly time due to external encoder attachment methods, which can result in reduced accuracy and increased complexity in robotics applications.
Innovation Solution
Integrating the encoder arrangement between elements of the strain wave gear, such as between the circular element and the bearing output support element, to inherit precision and accuracy, reduce wobbling, and simplify assembly by eliminating the need for separate attachment mechanisms.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the encoder is attached externally on or near the gear, then the encoder can be installed, but the attachment accuracy is reduced and assembly time increases
Solution Approach 1:
The encoder arrangement is integrated directly into the strain wave gear structure by fastening it between the circular element and the bearing output support element. This merging of the encoder with the existing gear components eliminates the need for separate external attachment, thereby improving attachment precision while reducing assembly time through a unified structure.
2Manufacturing precision
If the encoder track is attached externally, then the encoder can be installed, but misalignment occurs and precision is reduced
Solution Approach 1:
The encoder track is fastened between the circular element and the bearing output support element, integrating it into the existing precision structure of the strain wave gear. This eliminates separate attachment mechanisms and aligns the encoder with the inherent precision of the gear elements, reducing both misalignment and attachment complexity.
3Ease of manufacture
If separate attachment mechanisms are used for the encoder, then the encoder can be installed, but assembly complexity increases
Solution Approach 1:
The encoder arrangement is fastened directly between existing structural elements (circular element and bearing output support element) of the strain wave gear, eliminating the need for separate attachment mechanisms. This integration simplifies the manufacturing process while reducing the overall device complexity by utilizing the existing precision structure for encoder mounting.
Data Source
AI summary
A strain wave gear includes gear elements including a circular element having an internally-toothed gear and a flex element having a flexible externally-toothed gear arranged in the circular element. A wave generator is rotatably arranged in the flex element and configured to flex the externally-toothed gear in a radial direction to partly mesh the internally-toothed gear and the externally-toothed gear. Support elements include a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element. Elements of the support elements are fixed respectively to elements of the gear elements. An encoder arrangement includes an encoder track and an encoder reader. A part of the encoder arrangement is between an element of the support elements and an element of the gear elements.