A device for measuring a torque of a strain wave gearing includes a component (01, 02), on which the torque is applied, an electrically insulating insulation layer (06) arranged on the component (01, 02) and a deformation-sensitive measurement layer (04) arranged on the insulation layer (06). A strain wave gearing for a robot arm has such a device for measuring a torque.

A gearing includes an internal gear, a flexible external gear partially meshing with the internal gear and relatively rotating about a rotation axis to the internal gear, and a wave generator including a bearing contacting an inner circumferential surface of the external gear and a cam contacting an inner circumferential surface of the bearing and moving a mesh position between the internal gear and the external gear in a circumferential direction about the rotation axis, wherein an outer circumferential surface of the bearing forms a circular shape without contact with the cam, the inner circumferential surface of the external gear forms a circular shape without contact with the wave generator, and $\frac{d1}{2}-\frac{d2}{2}\leqq -0.003\left[\mathrm{mm}\right]$$\mathrm{and}-6\times 10^{-4}\leqq \left(\frac{d1}{2}-\frac{d2}{2}\right)/\frac{d2}{2}$
where an outer diameter of the bearing without contact with the cam is d1 [mm] and an inner diameter of the external gear without contact with the wave generator is d2 [mm].

A gear device includes an internal gear, a flexible external gear, and a wave generator. The wave generator has an elliptic cam and a bearing. An inner ring has an inner ring raceway surface which a plurality of balls are in contact with, and a pair of inner ring shoulder parts. At a position of a minor axis, a first inner ring shoulder part has a greater height than a second inner ring shoulder part. At a position of a major axis, the second inner ring shoulder part has a greater height than the first inner ring shoulder part.

One aspect of the present invention provides a method for manufacturing a strain wave gear device. The method includes steps of measuring a between pin diameter of an internal gear, measuring an over pin diameter of an external gear, where the external gear is to be placed radially inside the internal gear, configured to mesh with the internal gear, and flexible, measuring a dimension of a bearing, where the bearing is to be placed radially inside the external gear, and flexible, and machining an elliptical cam, where the elliptical cam is to be placed radially inside the bearing, and configured to flex the external gear in a non-circular manner. The elliptical cam is machined based on the measured dimensions of the internal gear, external gear and bearing such that the internal and external gears mesh with each other at a constant position.

A gear device includes an internal gear, an external gear having flexibility configured to partially mesh with the internal gear and rotate, and a wave generator provided on an inner side of the external gear and configured to move a meshing position of the internal gear and the external gear in a circumferential direction around the rotation axis. A main material of the internal gear includes graphite particles. A tooth surface of an internal tooth of the internal gear has a convex pattern including a first convex part and a second convex part extending in a first direction having a component along the rotation axis and arranged side by side in a second direction crossing the first direction, and 10≤D≤40 and S−D≤20, wherein D [μm] is an average particle diameter of the graphite particles and S [μm] is a separation distance between the first convex part and the second convex part in the second direction.

The present invention relates to robots and discloses a seven-degrees-of-freedom humanoid robotic arm, including an upper arm component and a forearm component. One end of the upper arm component is provided with a shoulder pitching joint, a shoulder yawing joint and a shoulder rolling joint for connecting with a shoulder. One end of the forearm component is provided with an elbow pitching joint and an elbow rolling joint for connecting with the upper arm component, and the other end of the forearm component is provided with a wrist pitching joint and a wrist yawing joint for connecting with a robotic hand. The seven-degrees-of-freedom humanoid robotic arm of the present invention achieves a highly bionic design of a spherical joint of human shoulder, elbow and wrist joints.

A gearing includes an internal gear, an external gear including external teeth placed around a rotation axis and meshing with the internal gear, a barrel part adjacent to the external teeth along the rotation axis, and an inner circumferential surface on an inner surface of the external teeth, and having flexibility and relatively rotating about the rotation axis to the internal gear, and a wave generator including a bearing having an outer ring in contact with the inner circumferential surface, an inner ring, and balls intervening between the outer ring and the inner ring, and moving a mesh position between the internal gear and the external gear about the rotation axis.

The invention discloses a detection method for radial deformation of flexspline of harmonic reducer under installation eccentricity state, taking the center of wave generator as the origin, the reference coordinate system is established in the method, and the offset between the center of wave generator and the pivotal center of rotary table is calculated by measuring the standard circle coaxial with the wave generator; the radial deformation function and the offset of wave generator under eccentricity state are taken to the theoretical ellipse eccentricity mathematical model to obtain the parameters of the actual ellipse; the offset and ellipse parameters are taken into the radial runout correction model of the flexspline to obtain the correction model under eccentricity state; the flexspline deformation function is measured and the correction model is taken to obtain the radial deformation function of the flexspline under standard state. This method solves the problem of installation eccentricity in the process of deformation detection of the flexspline, and obtains a more accurate variation function of the flexspline, and provides a more accurate practical basis for the design and optimization of the tooth shape.

A robot arm has a transmission output-side mating running surface on which a dynamic contact seal that seals off the transmission casing in a lubricant-tight manner is seated. A gap is determined by a main bearing arrangement between an upstream link and a downstream link, to which an output flange of a joint torque sensor is coupled, is sealed off by means of a further dynamic seal, with the objective of increasing the accuracy of the torque measurement by optimizing the secondary force flows.

A method of assembling a robotic surgical tool includes providing a handle having first and second ends, a lead screw, and a spline extendable between the first and second ends. The lead screw is rotated in a first direction to translate an elevator layer of a carriage proximally along a longitudinal axis of the handle, the elevator layer being movably mounted to the lead screw at a carriage nut. One or more additional layers of the carriage are removably coupled to the elevator layer and an elongate shaft extends distally from the additional layers, and an end effector is arranged at a distal end of the shaft. The elevator layer is penetrated by the end effector and the shaft upon coupling the additional layers to the elevator layer, and the lead screw is rotated in a second direction opposite the first direction to translate the carriage distally.