Examination of intermediate spheres arrangement for miniaturization of spherical speed reducer capable of uniform deceleration in all directions

In order to construct a multiple-degrees-of-freedom system by using the motors with one degree of freedom, same number as freedom is required. On other hand, spherical motor has three degrees freedom. It possible realize and, therefore, it can reduce size system. A speed reducer necessary change output torque and motion multiple-degrees-of -freedom We have developed capable uniformly decelerating in all directions demonstrated its applicability reducing experiments prototype reducer. However, when reduction ratio becomes large, entire mechanism will become large. Therefore, this study, we investigated optimization sphere arrangement so that be made small possible. This paper shows objective function constraint expression set from geometrical considerations. also analysis results value changing intermediate spheres placed between rotor sphere.