Development of Output Coupling Mechanisms Using the Harmonic Drives

This paper proposes a new type of output coupling mechanisms using the Harmonic Drives. The mechanism uses the surplus input power through distributing it to the other outputs, which enables us to use the input power more effectively. Due to the compositon that the output coupling and gear reduction are put together in one device, the mechanism also has the ability of speed reduction and non-backlash in addition to that of output coupling, and it is expected to keep both the torque loss and inertia low. The fundamental equation of input/output angular velocity is deduced. Finally, I/O relation and the output coupling function are evaluated with an experimental device.