JuDEKO KOHCTPYMcaIhe

ManIMHa
Jurnal ofMechanical
Engineering Design
Vo1.6 No 1, 2003.
PP 1- 40
I JIpe2JleOHU pao
Ilpeanor CTpyKTYpe npeHOCHHKa
Suggestion ofstructure ofworm-planetary gear train
IIeTPoBMn T., HBaHOB M. - Petrovic T, Ivanov 1.
HaKoH CIDKeTe aaanase MorynHOCTH OCTBapHBaIba BeJIHKHX H BeOMa BeJIHKHX npeHOCHHX onnoca npHMeHOM
syrrsacrax rrpeHOCHHKa, y pany je asspmeaa CHHTe3a HOBe cTpYKTYPe rry)l(HO-IIJIaHeTHOr npeHOCHHKa. Ilopen onaca
CTpyKTYPe, aasaaneae cy fJIaBHe KapaKTepHCTHKe HMoryne npioaeae HOBor fiY)l(HO-IIJIaHeTHOr npeHOCHHKa Hraxohe
npezrcraarsen rseroa peanna Mo,neJI.
After a condensed analysis of the possibility of high and very high transmission ratios being realized by gear trains, a
new structure of worm-planetary gear train has been synthesized in the paper. Beside a description of the structure,
main characteristics and possible applications of the new worm-planetary gear train have been designated and its real
model has also been presented.
1. 1. Introduction
AHaJIH3a MoryhHoCTH OCTBapHBaIba BeJIHKHX (i>100) H
BeOMa BeJIHKHX 0>1000) npenocaax ozraoca npHMeHOM
aymacrax npenocnaxa noxasyje na He nocroja
H,D;eanHH THII ayrrsacror npeHOCHHKa, KOjHM ce MOry
rrOCTHnH npeHOCHH O,nHOCH 6e3 orpaaasersa [5].
BeJIHKH npeaocaa O,nHOCH, Y3 BpJIO BHCOK crenea
xopacaor nejcrsa, MOry ce OCTBapHTH BHIDeCTerreHHM
KOHYCHO-UHJIHH.npWIHHM 3YIItIacTHM rrpeaocaaxcsr.
360r Manor npeaocaor onaoca 3yIItIaCTOr rrapa, sa
,no6Hjalhe BeOMa BeJIHKHX npeaocaax onaoca rrOTpe6HO
je HeKOJIHKO creneaa npeaoca, To HerrOBOJ.bHO YTWIe
npe caera aa .rpomsoae aspane H ,nHMeH3Hje
npeHocHHKa[6].
I1JIaHeTHH npeaocmma sa npeaoc caare, rne cnanajy
npOCTH IIJIaHeTHH npeHOCHHK (THII AI) H IIJIaHeTHH
npeaocnnx ca nsocrpyxaa IIJIaHeTHHM 3yIItIaHHKOM
THIIa A+I (CJIHKa 1), HMajy BpJIO BHCOK crenen
xopncnor nejcrsa, ,nOK je npeaocaa O,nHOC
reoaerpajcxa orpaaaaen ua peJIaTHBHO Mane
Bpe,nHOCTH, xoje ce MOry nosehara pe,nHHM
noaesaaarseu npeaocaaxa [7,15].
I1JIaHeTHH npenocnana sa npenoc xperarsa, rzte
cnanajy IIJIaHeTHH npeHocHHIUI ca ,nBOCTpyKHM
IIJIaHeTHHM 3yIItIaHHKOM THrra A+A H I+I (CJIHKa 1),
rrpseacrseao cnysce sa ocrsapasaa,e BeJIHKHX HBeOMa
BeJIHKHX npeaocnax onnoca, Y3 HH3aK crenea
xopacnor nejcrsa [7,15].
An analysis of the possibility of high (i>100) and very
high (i>1000) transmission ratios being realized by gear
trains shows that there is no ideal gear train type, by
which transmission ratios can be achieved without
limitations [5].
High transmission ratios, with a very good efficiency,
can be realized by a multi-stage bevel and spur gear
train. Because the transmission ratio of a gear pair is
low, several stages of transmission are necessary to get
very high transmission ratios. That affects especially
manufacturing costs and dimensions of the gear train
[6].
Planetary gear trains for power transmission, where a
simple planetary gear train (type AI) and a compound
planetary gear train of type A+I belong (figure I), have
a very good efficiency while the transmission ratio is
geometrically limited to relatively small values, which
can increase by connecting the gear trains in series
[7,15].
Planetary gear trains for motion transmission, where
compound planetary gear trains of types A+A and 1+1
belong (figure I), are used for the realization of high
and very high transmission ratios in the first place, with
a poor efficiency [7,15].
Anpeca ayropa (Contact address):
6 Prof. dr Tomislav Petrovic, mr Ivan Ivanov
Masinski fakultet NiS, Aleksandra Medvedeva 14, 18000 NiS, ivanovivan@bankerinter.net, ivani@masfak.ni.ac.yu
IOCHOBHH THIIOBH IIJ1AHETHHX IIPEHOCHHKA - BASIC TYPES OF PlANETARY GEAR TRAINS
I
I
Tlpeaoctrarra cnare - Power transmitters
Ilpenocmnra KpeTIllba - Motion transmitters

A+I A+A HI

" Jr"
2TJ
':t

5"'0
5-0
SaO ./
3
1 5=0 1 3 1 3
'1:--
CJI. 1. Knacadnncanaja OCH. TMIIOBa IIJIaH. npeHOCHHKa - Fig. 1. Classification ofbasic types ofplanetary gear trains
Cneuajanaa IIJIaHeTHH rrpeHOCHHlI,M (lI,MKJIO npeaocnax
HTaJIaCHH npenocaax) HMajy BeJIHKe npenocae OlJ,HOCe
xao HnpHJIWIHO BHCOK crenen xopncaor nejcrsa, IIpH
IhHXOBOj H3palJ,H Mopajy 6HTH HCrryH>eHH rrocefian
TeXHOJIOiliKH 3axTeBH [1,2,7,13,14, 16].
IIj')KHHM npeaocaaxosr ce MOry nocrahn peJIaTHBHO
BeJIHKH npeaocaa OlJ,HOCH y jelJ,HOM creneay npeaoca.
Kon BeJIHKHX H BeOMa BeJlHKliX npeaocaax OlJ,HOCa
MO)Ke ce KOpHCTHTH lJ,BOCTerreHH IIj')KHH npeaocnax
[3,4,6,12].
Y OKBHpy aHaJIH3e cy 06JIacTH npeaocaor
OlJ,HOca H creneaa xopacaor zrejcrsa rroMeHYTHX
THIIOBa syrrsacrax npeaocaaxa (raoena 1) [5].
Special planetary gear trains (a cyclo drive and a
harmonic drive) have high transmission ratios as well as
a quite good efficiency. Particular technological
requirements have to be satisfied in the manufacture of
them [1,2,7,13,14,16].
Relatively high transmission ratios in one stage of
transmission can be achieved by a worm gearing. A
two-stage worm gearing can be used in case of high and
very high transmissionratios [3,4,6,12].
The ranges of the transmission ratio and the efficiency
of the above-mentioned gear train types have been
established in the analysis (table 1) [5].
Tafiena 1. Ilpernen jenaocrerreaax symacrax npeHOCHHKa ca 06JIaCTHMa npea: onaoca Hcrenena KOp. nejcrsa [5]
Table 1. Overview ofone-stage eear trains with ranges oftransmission ratio and efficiency [57
BpaTHJIa - Shafts Tun 3ynQaCTOr npeaocaaxa - Gear train type
IIpeHocHH OJl.HOC Crenea xopacnor
Transmission ratio neicraa - Efficiency
rrapaJIeJIHa - parallel QHJIHHJ).pWIHH syrrs. rrpeHOCHHK - Spur gearing 1 ... 5 (10) 0,99 ... 0,98
ceKY ce - intersecting KOHYCHH ayrrsacra rrpeHOCHHK - Bevel eearing 1 ... 5 0,98 ... 0,97
IIpocTH IIJIaHeTHH npeaocaax (THII AI)
2,2 ... 12,3 0,99 ... 0,98
Simple planetary gear train (type AI)
IlJIaHeTHH npeaocaax TMIIa A+I
1,22 ... 24,3 0,99 ... 0,98
caOCHa - coaxial
Planetary gear train oftype A+I
IlJIaHeTHH npeHOCHHlI,M TMIIa A+A HHI
1,0811,28 ... 0
0,98/0,99 ...
Planetary gear trains oftvpes A+A and1+1
QHKno rrpeHOCHHK - Cyclo drive 6 ... 179 uO,95
TaJIacHH rrpeHOCHHK - Harmonic drive 30 ... 320 110,85
I YKPIIITajy ce - crossing Ilj')KHH rrpeHOCHHK - Worm gearing 5 ... 70 0,96 ... 0,70
C 063HpOM aa nocrojeha orpanmersa npeaocaor
OlJ,HOca syrrsacrax npeaocaaxa; qeCTO ce KOJI. BeJlHKHX
npeaocaax OJl.HOCa yrrorpetirsasajy KOM6HHall,Mje
IIj')KHor npeaocaasa H 06WIHor HJIH IIJIaHeTHOr
npeaocaaxa (CJlHKa 2). Ycnen HerrOBOJbHOr pacnopena
eneueaara, renrxo je peJl.HHM rrOBe3HBaIheM OBHX
npeaocanxa OCTBapHTH KOMrraKTHY KOHCTpyKll,Mjy,
HapOlfHTO IIpH BeOMa BeJIHKHM npeHOCHHM OlJ,HOCHMa,
xana cy HeOIIXOlJ,He rrpHJlWIHO CJlO)KeHe cTpYKTYPe
[3,4,5,12].
With regard to existing limitations of the transmission
ratio of gear trains, combinations of a worm gearing and
an ordinary or planetary gear train are often used in case
of high transmission ratios (figure 2). Because of an
unfavourable arrangement of elements, it is difficult to
realize a compact construction by connecting these gear
trains in series, especially in case of very high
transmission ratios, when rather complex structures are
necessary [3,4,5,12].
7
a)
~ ' 0 0 =
28125
100000
10000
5625 10000
3 4
1000
232 280
375
1000
75 280
400
100
100
62
50 50
10
10
8
1 2 3 4 5 6
b)
CJIHKa 2. IIy)l{HH rrpeHOCHHU.H HIhHXOBe KOM6HHaUMje ca 06WIHHM HTIJIaHeTHHM npeaocaauaaa
a) pa3JIWIHTe cTPyKTYPe; b) onrosapajyhe 06JIaCTH npesocaor onaoca (Rhein-Getriebe GmbH) [12]
Figure 2. Worm gearings and their combinations with ordinary andplanetary gear trains
a) various structures; b) corresponding ranges oftransmission ratio (Rhein-Getriebe GmbH) [LZ]
Haxepa HaM je CTOra 6HJIa ztaH3BpIIIHMO CHHTe3Y HOBe
CTPyKTYPe KOM6HHOBaHor syrrsacror rrpeHOCHHKa, soja
lie ce 0.ll:J1HKOBaTH [5]:
BeOMa BeJIHKHM rrpeHOCHHM O.ll:HOCOM;
aanoaorsasajyhasr CTeneHOM xopacaor nejcrsa;
BeOMa KOMnaKTHOM KOHCTPyKUMjOM H
peJIaTHBHO je<t>THHOM H3pa.ll:OM.
2. HOBacTpYKTYpa
flY'KHo-nJiaHeTHOr npenocnaxa
2.1. Crpytcrypna CBHTe3a
3a ocraapaaarse BeJIHKHX rrpeHOCHHX ozmoca
aajnoromraje je rrpHMeHHTH KOM6HHaUMjy nyacaor
rrpeHOCHHKa H TIJIaHeTHOr npeHOCHHKa. IIy)l{HHM
npeHOCHHKOM xao rrpBHM CTeneHOM npeaoca cMalhyjy
ce npcfirresra Be3aHH sa 6yKY H BH6paUMje, nox ce
TIJIaHeTHHM rrpeHOCHHKOM nosehasa HOCHBOCT
ueJIOKYTIHor rrpeHOCHHKa, 360r pacnonene orrrepehersa
aa HeKOJIHKO TIJIaHeTHHX symaaaxa [5].
Hs cnposeneae aHaJIH3e MO)l{e ce 3aKJbyqHTH na,
yMecTo npocror TIJIaHeTHOr npeaocaaxa (THn AI), KOjH
HMa MaJIH npeaocaa O.ll:HOC H BpJIO BHCOK crenea
xopacaor nejcrsa, aa acrrytserse 3aXTeBa TPe6a
H3a6paTH TIJIaHeTHH npeaocaax aa npeaoc xperaa,a [5].
Meljy TIJIaHeTHHM npeaocaauaxa sa npeaoc xperaaa
TIJIaHeTHH rrpeHOCHHU.H THna A+A H I+I HMajy
aajjenaocraaaajy cTPYKTYPY Hnoronaa cy aa npaaeay
H3 jour nsa paanora [5]:
KMa je HOCatI norOHCKH tUIaH, OBHM npeaocaauaxa
ce MOry OCTBapHTH BeJIHKH npeaocaa O.ll:HOCH, 6e3
reoMeTPHjcKHX orpaaasersa, Y3 HfI)I{H crenea
xopacaor nejcrsa;
IhHXOBa CTPYKTYPa TMa oMoryliaBa OTITHMaJIHY
aarerpauajy ca TIJ)l{HHM npeHocHHKOM.
8
Therefore our intention has been to synthesize a new
structure of combined gear train that will be
characterized by [5]:
a very high transmission ratio;
a satisfactory efficiency;
a very compact construction and
a relatively inexpensive manufacture.
2. New structure of
worm-planetary gear train
2.1. Structural synthesis
It is the most convenient to use a combination of a
worm gearing and a planetary gear train for the
realization of high transmission ratios. Problems with
noise and vibration decrease by the worm gearing as the
first stage of transmission while the load-bearing of the
whole gear train becomes greater by the planetary gear
train because of a load distribution to several planet
gears [5].
It can be concluded from the performed analysis that a
planetary gear train for motion transmission instead of a
simple planetary gear train (type AI), which has a low
transmission ratio and a very good efficiency, should be
selected for satisfying the requirements [5].
Among planetary gear trains for motion transmission
planetary gear trains of types A+A and 1+1 have the
simplest structure and are also suitable for use for two
reasons [5]:
when a carrier is a driving member, high
transmission ratios, without geometric limitations,
with a poorer efficiency, can be realized by these
gear trains;
- their structure makes an optimal integration with a
worm gearing possible then.
2.2. Onac npennoseeae crpyxrype
Ilpeanazce ce HOBa crpyxrypa ny)KHO-IlJIaHeTHOr
npeHOCHHKa, xoja je KOM6HHaUHja nyaoror rrpenocanxa
(1,2) H IlJIaHeTHOr npenocnaxa THna A+A (CJIHKa 3a)
HJIH HI (CJIHKa 3b) (2,300, 404',5), TaKO na OBH
npeaocmma HHCy nOBe3aHH pezmo, xao liITO je
yofiaaajeao KO,Ll KOM6HHoBaHHX 3yIl'IaCTHX
npeHOCHHKa, Benje TOqaK HCTOBpeMeHO HOCaq
,LlBOCTpyKHX nJIaHeTHHX 3yIl'IaHHKa [5,8,9,10,11].
2.2. Description of suggested structure
A new structure of worm-planetary gear train is
suggested, which is a combination of a worm gearing
(1,2) and a planetary gear train of type A+A (figure 3a)
or HI (figure 3b) (2,300,404',5), so that these gear
trains are not connected in series, as is usual with
combined gear trains, but a worm wheel is the carrier of
double planet gears at the same time [5,8,9,10,11].
a) b)
CJIHKa 3.
Ilpennozceaa cTpYKTYpa KOM6HHaUHje rryaoror npeaocaaxa
HIlJIaHeTHOr npeaocaasa rana A+A (a) HJIH HI (b)
(1 - nyac, 2 - ny)KHH TQqaK HHOCaq, 300,5 - UeHTpaJIHH
3YII'IaHHUH, 404' - ,LlBOCTpyKH IlJIaHeTHH 3yIl'IaHHUH) [9]
Figure 3.
Suggested structure ofcombination ofworm gearing
andplanetary gear train oftypeA+A (a) or 1+1 (b)
(1 - worm, 2 - worm wheel and carrier, 300,5 - sun gears,
404' - double planet gears) [9J
Ofiprarse noroncxor BpaTHJIa ca 6pojeM ofipraja n, ce
ca nysca (1) npeaoca aa ny)KHH TQqaK (2), KOjH cy y
3axBaTY. TOqaK ce oxpehe y O,LlHOCy aa rorseao
BpaTHJIO H xao HOCaq ,LlBOCTpYKHX IlJIaHeTHHX
3YII'IaHHKa (404'). HenOKpeTHH UeHTpaJIHH 3yIl'IaHHK
(300) je y 3axBaTY ca IlJIaHeTHHM 3yIl'IaHHUHMa 4, ,LlOK
je ueHTpaJIHH 3yIl'IaHHK (5) y 3axBaTY ca IlJIaHeTHHM
3yIl'IaHHUHMa 4' HBe3aH je sa rorseao BpaTHJIO, xoje ce
ofiphe ca 6pojeM ofipraja ns (CJIHKa 3) [5,9].
2.3. Kaparerepacraxe
Ilpezmozceaacrpyxrypa npeHOCHHKa
HMa cnenehe KapaKTepHCTHKe [5,8,9,10,11]:
MorynHocT OCTBapHBlUha aeosta SeJIHKHX
npenocnnx onaoca y caxo nsa creneaa npeaoca;
aanoson.aaajyha crenea xopacaor nejcraa y
liIHpOKOj 06JIaCTH npeaocaor O)J.HOca;
aeosra KOMnaKTHa xoacrpyxuaja. ,ll;HMeH3Hje
npennoxeae crpyxrype cy He3HaTHO Bene 0):(
,LlHMeH3Hja CaMOCTaJIHOr nyacnor npeHOCHHKa HJIH
IlJIaHeTHOr npeHOCHHKa;
MaJIO )J.HHaMHQKO onTepelie&e H pa)J. ca MaJIO
oyKe HBHopaUHja;
BeJIHKa HOCHBOCT npeHOCHHKa;
peJIaTHBHO je4>THHa nspana npHMeHOM
CTaH):(ap):(HHX TeXHOJIOillKHX nocrynaxa,
Hasenene KapaKTepHCTHKe npennoxeae crpyxrype
ny)KHO-IlJIaHeTHOr npeHOCHHKa cy npe caera pe3yJITaT
KOHCTpYKUHOHor assoheaa, ,LlOK rrpa
H3pa,LlH HeMa nocefianx TeXHOJIOIIlKHX saxresa [5].
The rotation of an input shaft with the rotation speed of
n, is transmitted from a worm (1) to a worm wheel (2),
which are in mesh. The worm wheel rotates on an
output shaft and acts as the carrier of double planet
gears (404'). A fixed sun gear (300) is in mesh with the
planet gears 4 while a sun gear (5) is in mesh with the
planet gears 4' and fastened to the output shaft, which
rotates with the rotation speed of n, (figure 3) [5,9]
2.3. Characteristics
The suggested structure of worm-planetary gear train
has the following characteristics [5,8,9,10,11]:
the possibility of very high transmission ratios
being realized with only two stages of transmission;
a satisfactory efficiency in a wide range of the
transmission ratio;
a very compact construction. The dimensions of
the suggested structure are insignificantly greater
than the dimensions of the individual worm gearing
or planetary gear train;
a low. dynamic load and an operation with low
noise and vibration;
a high load-bearing of the worm-planetary gear
train;
a relatively inexpensive manufacture by using
standard technological processes.
The above-mentioned characteristics of the suggested
structure of worm-planetary gear train are above all a
result of a specific design while there are no particular
technological requirements in the manufacture [5].
9
2.4. IIpHMeHa
Ilpennoacena cTpYKTYPa rryIKHO-llJIaHeTHOr npeaocanxa
ce MOlKe KOPIICTIITII aa npenoc caare II xperarsa y
CJIY'Iajy BeJlHKIlX II BeOMa BeJlHKHX npeHOCHIlX onnoca,
TaKO na Ycxnony ca onrosapajyhaa eJleKTpOMOTOpOM
reaepmne BpJlO cnopo paBHOMepHO oopraa,e II BeJlIIKH
06pTHH MOMeHT aa rOlheHOM sparany [5,8,9,10].
Osaj rryIKHO-lIJlaHeTHII npeaocuax crora MOlKe HahH
npaneay TaMO rne cy norpefiae Malle 6p3HHe panne
MallIHHe (sa npaxep, noroan 'rpancnopraax H
MOHTalKHIlX TpaKa, MellIallHua, 06PTHIlX neha, HT,U.)
(cnaxa 4) [5].
a)
2.4. Application
The suggested structure of worm-planetary gear train
can be used for power and motion transmission in case
of high and very high transmission ratios so that it
generates a very slow uniform rotation and a high
torque on the output shaft in combination with a
corresponding electric motor [5,8,9,10].
Therefore this worm-planetary gear train can be applied
where low operating speeds are necessary (for example,
drives of conveyor and assembly belts, mixers, rotary
kilns, etc.) (figure 4) [5].
b)
CJlHKa 4. TIpHMepH rrpasrene npeanoxeae cTpYKTYPe nytKHO-lIJlaHeTHOr npeaocaasa
a) noroa 'rpaacnoprae HJlH MOHTalKHe TpaKe; b) noroa MellIallHUe [5]
Figure 4. Application examples ofsuggested structure ofworm-planetary gear train
a) drive ofconveyor or assembly belt; b) drive ofmixer [5J
10
2.5. PeaJIHH MOneJl
3a H3Jla3HH 06pTHH MOMeHT T = 60 Nm, Tj. sa OCHa
pacrojarsa rryscnor npeaocaaxa apuz = 80 rom H
lIJlaHeTHOr npeaocnaxa apt = 40 rom, OCMHllIJbeHO je
Moryhe KOHCTpYI\UHOHO H3Boljeae, na OCHOBy xora je
aspahen pearrna xonen npennoxeae CTPYKTYPe nytKHO-
lIJlaHeTHOr npeaocaaxa (CJlHKa 5) [5].
2.5. Real model
For the output torque of T = 60 Nm, that is for the
centre distances of the worm gearing of <lpuz = 80 rom
and the planetary gear train of apt = 40 rom, a possible
design has been created, on the basis of that a real
model of the suggested structure of worm-planetary
gear train has been manufactured (figure 5) [5].
CJlHKa 5.
Peamm Mo,UeJl npennoxese cTpYKTYPe
nytKHO-lIJlaHeTHOr npeaocmrxa
YKYnHor npeaocaor onnoca i
uk
= 5320
(MallIIIHcKH cPaKYJlTeT HHIIl) [5]
Figure 5.
Real model ofsuggested structure
ofworm-planetary gear train
with total transmission ratio ofiuk = 5320
(Faculty ofMechanical Engineering Nis) [5]
HapoqHTHM H300POM CTpyKTYpHHX napasrerapa ofia
IIpeHOCHHKa y cnysajy peannor MO.IJ:eJIa je IIOCTHrHyT
YKYIIHH IIpeHOCHH O.IJ:HOC i
uk
= 70 x 76 = 5320, Y3
YKYIIHH crenea xopncaor nejcrsa 11uk [J 0,3 H
MHHHMaJIHe .IJ:HMeH3Hje II)')KHO-IIJIaHeTHOr IIpeHocHHKa
[5].
By a particular selection of the structural parameters of
the both gear trains, the total transmission ratio of i
uk
=
70 x 76 = 5320 has been achieved in case of the real
model, with the total efficiency of 11uk [J 0,3 and
minimal dimensions of the worm-planetary gear train
[5].
3. 3. Conclusion
Ha OCHOBy cnposeneae aHaJIH3e MorynHocTH
ocraapaaarsa BeJIUKHX U BeOMa BeJIUKHX IIpeHocHHX
O.IJ:HOCa rrpaxeaox 3ynqaCTHX npeaocaaxa, aaspureaa
je CUHTe3a HOBe crpyxrype II)')KHO-IIJIaHeTHOr
npenocaaxa, xoja ouoryhaaa aaaxajaa yaanpehetsa y
KOHCTpyKUUjU KOMouHoBaHHX 3ynqaCTHX npenocaaxa.
4. Jhrrepa'rypa - References
On the basis of a performed analysis of the possibility of
high and very high transmission ratios being realized by
gear trains, a new structure of worm-planetary gear train
has been synthesized, which makes a significant
improvement in the construction of combined gear
trains possible.
[1] Harmonic Drive: Der intelligente Katalog (Compact Disk), Katalog 08/01 90 00 80, Harmonic Drive AG,
Postfach 1652, D-65536 LimburglLahn.
[2] Harmonic Drive: Produktiibersicht 2000, Neue Baureihen und erweiterte Untersetzungen, Katalog 07/00 90 00
01, Harmonic Drive AG, HoenbergstraBe 14, D-65555 LimburgILahn.
[3] Hiersig, H., M, Kim, W: Motorgetriebe fur kundenspezifische Anforderungen, Antriebstechnik 27 (1988), Nr.
2, Vereinigte Fachverlage, Mainz, 1988., s. 34-40.
[4] Hiersig, H., M: Variantenkonstruktion am Beispiel von Schneckengetrieben, ATK '95, Tagungsband, Institut fur
Maschinenelemente und Maschinengestaltung der RWTH Aachen, 1995., s. 107-117.
[5] JfBaHoB, H: CUHTe3a KOM6uHoBaHor npeaocaaxa BeJIUKOr npeaocaor O.IJ:HOCa, MamcTapcKa resa, Mamaacxa
$aKYJITeT, Hmn, 2004.
[6] Munmeuoeuh, B.: Manraacxa eJIeMeHTH, 06mmH, npopa-rya, rrpaxeaa, Mamancxa cPaKYJITeT, Ham, 2002., crp,
191-326.
[7] Muller, H., W: Die Umlaufgetriebe, Auslegung und vielseitige Anwendungen, Springer-Verlag, Berlin,
Heidelberg, 1998., s. 73-87.
[8] Petrovic, T., Ivanov, 1.: A Contribution to the Development of Gear Trains with High Transmission Ratios,
Proceedings of the 11th World Congress in Mechanism and Machine Science, China Machine Press, Tianjin,
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