Journal of Mechanical Science and Technology 25 (1) (2011) 171~176

www.springerlink.com/content/1738-494x

DOI 10.1007/s12206-010-1112-y

A design of speed reducer with trapezoidal tooth profile

for robot manipulator
Won-Ki Nam and Se-Hoon Oh*
Department of Mechanical Engineering, Chung-Ang University, Seoul 156-756, Korea
(Manuscript Received March 3, 2010; Revised September 14, 2010; Accepted November 11, 2010)
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Abstract
Robots are increasingly performing human work as manufacturing is automated. Accordingly, the use of precision speed reducers has
become essential for achieving precise control of the robot arm position. Curved tooth profiles, such as cycloid or involute tooth profiles,
are generally used in precision speed reducers. Speed reducers with cycloid tooth profiles, which enable high precision control, are widely used to manipulate robot systems. This study proposes a speed reducer that has a trapezoidal tooth profile with straight lines. In this
work, we mechanically analyzed trapezoidal tooth profiles, and then measured performance was by various tests using a prototype manufactured specifically for this study.
Keywords: Robot manipulator; Trapezoidal tooth profile; Speed reducer; Trajectory
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1. Introduction
Planocentric gears reducers and harmonic drivers are generally used among the many types of speed reducers currently
available for robots. The cycloid reducer (RV reducer) is the
most common type of planocentric gear reducer in use today.
Cycloid drives have been popular reducers from the 1930s
until the present time due to their compact, light-weight, high
speed reduction compared to planetary gear trains, together
with their high mechanical advantage in a single stage [1].
However, there is backlash in the cycloid drive due to variations in machining, which will reduce stability and inherent
noise and vibration, particularly at high speeds [2].
Most robots used for automated manufacturing employ harmonic drivers for the upper two or three joints and cycloid
reducers for the base joints. In full-size robots, cycloid reducers are used for all six joints [3, 4]. Harmonic and cycloid
reducers can exhibit significant speed reduction rates even at
only one stage and are able to transfer large torques even at
small sizes because of their much tooth gearing rates; thus,
they are predominantly used for robots that require a compact

This paper was recommended for publication in revised form by Associate Editor
Jeong Sam Han
*
Corresponding author. Tel.: +82 2 820 5314, Fax.: +82 2 817 3135
E-mail address: [email protected]
KSME & Springer 2011

structure, large load capacity, and high-precision control of

position [5]. These reducers are becoming increasingly specialized for applications such as measurement of tooth profile
manufacturing techniques and assembly skills. With increasing demand for high functions in areas such as semiconductor
manufacturing and the space industry, continued development
of cycloid and harmonic reducers can be expected from the
viewpoint of satisfying user requirements.
In designing tooth profile considering user requirements, the
geometry of conjugate surfaces is of major concern in designing the gears and generating the conjugate meshing elements,
and the meshing of gears and the generations of conjugate
surfaces have been previously studied [6-10].
In this study, we designed a speed reducer for robots by introducing a novel trapezoidal tooth profile concept, and we
conducted a tooth profile design program and we manufactured a prototype and measured its performance.

2. Methodology
2.1 Structure of speed reducer
The proposed reducer essentially consists of an inner gear
with inner teeth that function collectively as a housing, an
external gear that conducts eccentric movements, and an output part that generates reduced rotations. Generally, a cycloid

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Fig. 1. Disassembly view of a robot reduction drive.

reducer can be categorized as a general cycloid reducer or one

that contains a planetary gear. Fig. 1 shows the structure of a
cycloid reducer that contains a planetary gear. Here, unlike in
the general cycloid reducer, the input axis () from the motor
generates power to rotate the planetary gear (), and the eccentric axis () of the planetary gear moves the center position of the cycloid gear () at the moment when it makes
tooth-by-tooth contact with the inner gear (). This causes
the cycloid gear turn on its own axis in a direction opposite to
that of the input rotation, because the axis has an all-in-one
structure. Cycloid reducers containing inner gears composed
of pins or planetary gears, which exert a two-speed slowdown
effect on the reducer system, have recently gained in popularity for robots. This is because they can yield a greater rate of
speed reduction than general cycloid reducers of equal size,
which reduce speed by translating cycloid gear motion directly through the input eccentric axis [11, 12].
2.2 Definition of trapezoidal tooth profile
General tooth profiles of gears have shapes corresponding to
those of involute curves or cycloids. In this study, however, a
trapezoidal tooth profile was used rather than the previously
used involute or cycloid tooth profiles. The gearing features of
a trapezoidal tooth profile have not yet been studied in depth
because trapezoidal tooth profiles have hitherto been used
mostly for cam devices that have cycloid movement. In our
current study, we conducted an analysis to reveal the interference or gearing features of a trapezoidal tooth profile.
Assuming that the tooth number of an external gear is Z1 ,
that of a internal gear is Z 2 , and the number of modules is m ,
the basic diameters of the external gear and internal gear are
equal to D1 = mZ1 and D2 = mZ 2 , respectively. The size of a
tooth shown in Fig. 2 is equal to the value of the circumference length of a pitch circle divided by the number of teeth.

D1 mZ1
Z = Z =m
1
1
(1)

mZ
2
2 =
=m
Z 2
Z2
The tooth size is m , as shown in Fig. 2. At this point, as-

Fig. 2. Angular size of one tooth.

Fig. 3. Basic tooth profile for external gear.

suming that the ratio between the declination surface and the
outer and inner surface of the tooth is constant, the size of the
outer surface of the tooth is equal to m / 4 .
Assuming that the center of the tooth falls on the starting
point at which the trapezoidal tooth profile of the external gear
is defined, the following equations can be deduced.
x1 = 0.6 m

m
y1 = 4 x1 tan

x2 = 0.5 m

m
y2 = 4 x2 tan

(2)

(3)

x3 = x2

y3 = y2

(4)

x4 = x1

y4 = y1

(5)

In the same manner, the trapezoidal tooth profile can be defined as shown below; however, the amount of eccentric
movement of the external gear must also be considered at the
position where the tooth profile of the internal gear is defined.

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173

results of kinematic pin trajectory modeling.

The pitch circles of the external gear and the internal gear
can be defined as follows [13]:

mZ1
2
mZ 2
r2 =
2
r1 =

(10)
(11)

where as in the tooth profile module, m is equal to the pitch

circle diameter, D , divided by the number of teeth, Z , in
units of millimeters. Z1 and Z 2 indicate the number of teeth
in the internal and the external gear, respectively.
If the larger pitch circle rotates, the two pitch circles must
rotate in the same direction simultaneously, and it is like the
two rotate at constant but different angular speeds.

Fig. 4. Basic tooth profile for internal gear.

r11 = r22

(12)

where 1 and 2 denote the angular speed when the inner

and the external tooth wheels rotate, respectively. Eq. (13)
immediately below shows the variation in Eq. (12) for 1 .

1 =

r2
Z
2 = 2 2
r1
Z1

(13)

Meanwhile, Eq. (14) can be used to calculate the absolute

angular speed when the external tooth wheel rotates and revolves with the inner tooth wheel fixed.

Z2

1 2 =

Z1

Z Z1
12 = 2
2

Z1

(14)

Fig. 5. Kinematic modeling of pin trajectory.

x1 = 0.5 m + (e 1) m

m
y1 = 4 x1 tan (e 1) m

x2 = 0.6 m + (e 1) m

m
y2 = 4 x2 tan (e 1) m
x3 = x2

y3 = y2
x4 = x1

y4 = y1

(6)

The position coordinates of the external tooth wheel can be

calculated from those of the inner tooth wheel by using the
following equations:
r1 = M 12 r2

(7)

M 12 = M 1 f M fp M p 2
r2 = x2

(8)

M1 f
(9)

In these equations, e represents the amount of eccentric

movement.

M fp

2.3 Tooth profile kinematics equation

In a cycloid reducer, the external tooth wheel exhibits eccentric cam movement. The amount of eccentric movement can
be controlled as shown below, and the tooth profile movement
can change according to predictable values. Fig. 5 shows the

(15)

M p2

(16)
T

0 1
cos 1 sin 1
sin cos
1
1
=
0
0

0
0
y2

0 e
0 0
1 0

0 1
cos 2 sin 2
sin
cos 2
2
=
0
0

0
0

1
0
=
0

(17)
0
0
1
0

0
0
0

0
1
0
0

(18)

(19)

0
0
1
0

0
0
0

(20)

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Table 1. Change in tooth profile trajectory as a function of declination

coefficient .

(a)

<1

(b)

=1

Fig. 6. Trajectory of center position.

In the above equations, M1 f , M fp and M p 2 indicate the

rotation conversion matrix for an angular speed of 1 , the
translation conversion matrix for a translational speed of e ,
and the rotation conversion matrix for an angular speed of 2 ,
respectively.
The absolute coordinate system is necessary for data analysis
in the simulation program. Therefore, in the absolute coordinate system, r1 and r2 (obtained from the external tooth
wheel r1 and the internal tooth wheel r2 , respectively) are
calculated as follows.

(c) 1 <

x1 cos 1 y1 sin 1 + e
x sin + y cos
1
1
1
r1 = M pf M f 1r1 = 1

(21)

x2 cos 2 y2 sin 2
x sin y cos
2 + 2
2
r2 = M p 2 r2 = 2

(22)

The aforementioned trapezoidal tooth profile moves according to these equations of motion.
2.4 Definition of the declination coefficient

To determine the trajectory of the center of the external tooth

wheel, the following equations for trajectory are used, with the
tooth center set as ( xc , yc ) :
xc = H cos( R ) + e cos

yc = H sin( R ) + e sin

where

(23)

2
2
i , R =
Zf
Zf

Table 1 shows the results of evaluation of the trapezoidal

tooth profile trajectory with respect to changes in the value of
declination coefficient .
When = 1 , the end of the tooth surface encounters interference because of its position movement (as shown in red
circle of Table 1(b)). This interference becomes greater because of the cycloid movement of the tooth when < 1 (as
shown in red circle of Table 1(a)). However, when 1 < ,
there is no interference because tooth contact occurs in a direction opposite to that of tooth movement.

3. Experimental results.

Here, the definitions are as follows:

3.1 Prototype reducer for robot

H=

mZ f
2

+ 0.5m

(24)

A prototype reducer for robots (shown in Fig. 7) based on

our analysis results from the previous section is manufactured.

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W.-K. Nam and S.-H. Oh / Journal of Mechanical Science and Technology 25 (1) (2011) 171~176

Table 2. Change in tooth profile trajectory as a function of declination.

Displacement
[mm]
0.096
1

Fig. 7. Prototype of reducer for robots.

Force
[kgf]
50

Moment stiffness
[Nm/arc min]
480.21

0.048

30

576.25

0.013

15

1063.9

0.098

50

470.41

0.045

30

614.67

0.011

15

1257.28

0.094

50

490.43

0.05

30

553.2

0.018

15

768.33

Average

697.18

Fig. 8. Test bed for lost motion.

Fig. 9. Test bed for bending moment.

Then the data presented below from tests of this trial product
is derived.
Sag stiffness amounted to 609 Nm/arc min and the sag load
moment was measured as 1131 Nm. The maximum sag moment load was 2262 Nm, and the application point size ranged
from 83.71 mm to 8.14 mm. The axial direction load was
3408 N and the radius direction load was 12180 N. The standard distance along the radius direction was measured as 50
mm. The rated output torque was 500 Nm, and the rated output frequency was 15 rpm. The maximum permissible average
output torque was 700 Nm, the permissible speed increase/decrease torque was 1250 Nm, and the maximum permissible instantaneous torque was 2500 Nm. The maximum
permissible output frequency was 27 rpm, the rotation precision was measured as lower than 1 min, and the torsion stiffness was 206 Nm/arc min.

arc min, thus satisfying the requirement for robots (less than 1
min).

3.2 Lost motion

To confirm the effectiveness of the developed tooth profile

design, we manufactured a model with the following specifications. The manufactured model (HDXD050S-B148-S-S2)
had a speed reduction ratio of 148:1, and lost motion was
measured (using a test bed manufactured specifically to measure lost motion, as shown in Fig. 8) to be an average of 0.12

3.3 Moment stiffness

When designing robots, a high value of moment stiffness

must be used, because if the stiffness is not high enough, the
resulting low eigenfrequency decreases the precision of the
robots, and they sag under additional loads. The stiffness of
currently available robots amounts to about 600 Nm/arc min.
In this study, based on experiments performed with the
manufactured test bed (see Fig. 9) to measure the bending
moment, the moment stiffness of robot reducers with a trapezoidal tooth profile was found to be greater than 600 Nm/arc
min, which is a standard value of stiffness for robots (see Table 2).
Note: Distance to the forced point: 1000 mm; distance
measured: 300 mm
3.4 Noise measurement

Table 3 lists the measured values of noise when a single reducer was operated under Nyquist control and noise was
measured at a distance of 1 m from the source. Given that the
average noise of industrial robot reducers is 85 dB, our prototype has a considerable advantage in terms of noise.

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W.-K. Nam and S.-H. Oh / Journal of Mechanical Science and Technology 25 (1) (2011) 171~176

Table 3. Noise test.

Input speed [rpm]

Noise [dB]
Forward

Backward

1000

68

70

2000

73

74

3000

74

76

4. Conclusion
The tooth profile of robots can be categorized as cycloid, involute, or trapezoidal. Our study evaluated the gearing features of the trapezoidal tooth profile. In addition, the applicability of the profile to robots was verified via prototype manufacture and laboratory experiments. Based on the results of our
study, we proposed a new robot reducer tooth profile with a
number of improvements with regard to gearing. In summary,
(1) Great improvements in gearing, stress, and stiffness by
optimizing the declination coefficient have been introduced. A
standard value of stiffness for general industrial robots is 600
Nm/arc min, but average value of stiffness for reducer using
trapezoidal tooth profile is 697 Nm/arc min. It shows that
newly designed trapezoidal tooth profile is structurally sound.
(2) Newly designed trapezoidal tooth profile make surfacecontact, whereas the previous cycloid tooth profile make linecontact. Therefore the trapezoidal tooth profile has an advantage in terms of stress and bending stiffness by comparing its
strength with that of the previous cycloid tooth profile.
(3) Reducer using trapezoidal tooth profile makes noise
about 68~76dB in case input speed is from 1000 to 3000rpm.
This shows proposed reducer offers improved noise reduction
capability in comparison with previous reducer which makes
noise about 85dB.

Acknowledgment
This research was supported by Chung-Ang University Research Scholarship Grants in 2010.

Nomenclature-----------------------------------------------------------------------D
e
m
M
Z

:
:
:
:
:
:
:
:

Diameter
Eccentric coefficient
Module
Conversion matrix
Tooth number of gear
Pressure angle
Declination coefficient
Angular speed

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Se-Hoon Oh received his Ph.D. Degree

from Imperial College of U.K.. Dr. Oh
is currently a Professor at the Department of Mechanical Engineering at
Chung-Ang University in Seoul, Korea.
His research interests include robotics,
Harmonic driver system, Cycloid speed
reducer and Bicycle

Won-Ki Nam received his B.S. degree

in 2006 and M.S Degree in 2008 from
Chung-Ang University of Korea, and is
currently a Ph.D. candidate in Department of Mechanical Engineering at
Chung-Ang University in Seoul, Korea.
His research interests include robotics,
Harmonic driver system, Cycloid speed
reducer and designing of tooth profile.