The structure for detecting tooth-skipping of the speed reducer of the rotary driver is reduced in weight and size. In the rotary driver the occurrence of tooth-skipping is detected based on the difference in outputs from the encoders located at the input side (the side of the motor) and at the output side (the side of the load), which is opposite the input side in relation to the speed reducer. The rotary driver comprises a motor, a speed reducer located between the motor and a load to reduce the rotary speed of a rotary shaft at the side of the motor, to thereby transmit the reduced rotary speed to a rotary shaft at the side of the load, a first encoder for detecting a rotation of the rotary shaft at the side of the motor, a second encoder for detecting a rotation of the rotary shaft at the side of the load, a section for detecting any difference between a first detected value that is obtained by dividing an output of the first encoder by a rate for reducing the speed by the speed reducer and a second detected value that is obtained from an output of the second encoder, and a section for detecting tooth-skipping that detects tooth-skipping of the speed reducer based on the difference.

Described herein is an example a strain wave gear that includes: gear elements, where the gear elements include a circular element with an internally toothed gear and where the gear elements include a flex element with a flexible externally toothed gear arranged in the circular element; a wave generator 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 including a bearing input support element and a bearing output support element rotatably coupled to the bearing input support element, where elements of the support elements are fixed to elements of the gear elements; and an encoder arrangement including an encoder track and an encoder reader, where a part of the encoder arrangement is fastened between an element of the support elements and an element of the gear elements.

In the cup-shaped externally toothed gear, the outside end face profile of the diaphragm is defined by a first concave circular arc having a first radius, a second concave circular arc that has a second radius and is smoothly connected to the first concave circular arc, an inclined straight line that is smoothly connected to the second concave circular arc and is inclined toward an inside straight line with respect to the center axis line, the inside straight line defining the outside profile of the diaphragm. The second radius is larger than the first radius, and the thickness of the diaphragm is gradually decreased from the side of the boss to the side of the cylindrical body. The stress concentration in the boss-side joint portion of the diaphragm can be relieved, whereby enhancing fatigue strength of the flexible externally toothed gear.

A relieving portion is formed between a first external tooth portion and a second external tooth portion in the external teeth of a flexible externally toothed gear of a flat strain wave gearing. The length L1 of the relieving portion in the tooth trace direction is within the range of 0.1 to 0.5 of the tooth width L of the external teeth. The maximum relieving amount t from the tooth top land of an external tooth in the relieving portion is 3.3×10.sup.−4<t/PCD<6.3×10.sup.−4 where the PCT is defined as the pitch circle diameter of the external teeth. The tooth face load distribution of the external tooth in the tooth trace direction can be equalized, and a flat strain wave gearing having a high transmitted-load capacity can be achieved.

The rotary actuator has an outer rotor type motor assembled coaxially in a device hollow part of a strain wave gearing. One end of the device hollow part is closed by an end cover fixed to an output shaft of the strain wave gearing. A detection part is arranged between the motor and the end cover inside the device hollow part. A rotational position of a rotation detection plate mounted on an inside end surface of the end cover is detected by the detection part, to detect the rotational position of the output shaft. A rotary actuator that is small and compact can be realized.

A backside emitter solar cell structure having a heterojunction, and a method and a device for producing the same. A backside intrinsic layer is first formed on the back side of the substrate, then a frontside intrinsic layer and a frontside doping layer are formed on the front side of the substrate, and finally a backside doping layer is formed on the back side of the substrate.

An actuator, a robot arm and a robot are disclosed. The actuator includes: a housing; a motor, including a motor stator and a motor rotor, wherein the motor stator is disposed on the housing, the motor rotor is rotatably connected to the housing, and the motor rotor covers the motor stator; a position encoder, disposed on the motor rotor; a motor driver, disposed on the housing, and electrically connected to the motor; a reducer, disposed on the housing, and parallelly disposed with the motor; and a transmission mechanism, connected to the motor rotor and the reducer respectively; wherein the reducer is configured to adjust a rotation speed output from the motor rotor.

A reduction drive-side mounting end face on a strain wave gearing reduction drive unit has a circular center hole, and a motor-side mounting end face on a motor has a circular projection. The strain wave gearing reduction drive unit and motor are coaxially mounted by the circular projection being fit into the circular center hole with a regulating ring therebetween. The regulating ring, which regulates the motion of a flexible external gear, can be easily mounted to the strain wave gearing reduction drive unit by using the motor. The strain wave gearing reduction drive unit can be mounted to a motor comprising a circular projection with a different outer diameter by using a regulating ring with a different inner diameter.

A roll stabilizer for a motor vehicle having a housing (137, 237) with a first stabilizer element (110, 210) coupled to the housing and an electric motor (150, 250) located in the housing (137, 237). The transmission (160, 260) is coupled to the electric motor (150, 250) on a drive side, and the output side of the transmission (160, 260) is coupled to a second stabilizer element (115, 215) such that the stabilizer elements are electromechanically rotatable with respect to one another. The electric motor is designed as a Vernier motor.

The invention provides an actuating device for actuating a cable. The actuating device comprises a housing defining an interior and a motor assembly including a shaft. The actuating device also comprises at least two planetary gears and a flex gear having an inner surface and an outer surface with the inner surface partially engaged with the planetary gears. The actuating device additionally comprises an output member having a drive portion and a mounting interface with the drive portion engaged with a section such that the output member is rotatable relative to the housing when the shaft rotates. The actuating device additionally comprises a connector coupled to the mounting interface for securing the cable to the mounting interface. The connector moves relative to the housing and in unison with the output member during the rotation of the output member for activating the cable during operation of the actuating device.