We supply 2 options of encoders for our joints / joint arms.
Option 1 (our Standard before HMI 2017): Motorencoder plus Ini switch for 0-point reference on the joint output (PRT bearing)
Option 2): Output encoder on the PRT bearing of the joint. This is our own development, we use a magnetic ring plus Encoderchip on the output with an aditional magnet and Hall Sensor as reference point. Please find attached a description of the output encoder attached in GER and ENGL. Advantage: less cables, higher resolution, more accuracy for the arm.
The strain wave gear is available as a product in the size RL-S-17 and RL-S-20. RL-S-30 is a prototype and still in development.
The cyclo gear can be an alternative in future and is not available as a product yet. The sizes 17 and 20 are currently in development.
Both types of gears contain a coaxial in- and output axis (different from RL-D worm gears), they consist of three similar components:
- An outer (static) toothed ring
An inner toothed ring (rigid in the cycloid gear, flexible in the SWG)
A drive (an excentric in the case of the cycloid gear, the wave generator in the SWG)
strain wave gear with flexible inner ring cycloid gear with excentric ring