Table 2 Gear specifications for the KUKA...

Table 2

Gear specifications for the KUKA KR210 R2700 Prime robot reducers

Robot axis	Reducer model	Reduction ratio	$z_{1}$	$z_{2}$	$z_{3}$	$z_{4}$	$z_{6}$
1	Nabtesco RV-700CS	256.86	20	155	83	46	58
2	Nabtesco RV-700N	252.91	−	−	22	107	52
3	Nabtesco RV-500N	236.37	−	−	19	86	52

Notes:

z₁, z₂, z₃ and z₄ denote the number of teeth in the first stage gears (input, large center, small center and spur gear), and z₆ is the number of pins in the second stage. The cycloid gear has $z_{6} - 1$ teeth

Source: Authors’ own work

[ViewLarge]

Sharing Unavailable