Kinematical analysis of the nutation speed reducer

This paper discusses the development of a Nutating Speed Reducer (NSR) which is characterized by high reduction ratio, high tooth contact ratio, very high torque to weight/volume ratio, quiet and smooth operation under load and very high efficiency. All of these advantages are due to the presence of conjugate face-gear pairs, which incorporate each other, which called nutating/rotating gear mechanism. Details of the NSR, its kinematics, gear tooth load capacity, and mesh efficiency are explained. The NSR component speeds and speed reduction ratios of the NSR are calculated. Effect of the varying nutation angles on the geometry of the NSR is discussed and compared